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首页> 外文期刊>Control Theory & Applications, IET >Adaptive output feedback tracking control for switched non-strict-feedback non-linear systems with unknown control direction and asymmetric saturation actuators
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Adaptive output feedback tracking control for switched non-strict-feedback non-linear systems with unknown control direction and asymmetric saturation actuators

机译：具有未知控制方向和不对称饱和执行器的开关非严格反馈非线性系统的自适应输出反馈跟踪控制

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摘要

The problem of adaptive tracking control is studied for a class of switched non-strict-feedback non-linear systems with unknown control direction and asymmetric saturation actuators under arbitrary switchings. The main technical difficulty comes from developing a common adaptive control scheme in the presence of unknown control direction and unknown asymmetric saturation non-linearities. A linear state transformation is exploited to deal with the unknown control coefficients and a Gaussian error function-based smooth model is used to approximate the asymmetric saturation non-linearity. Based on an input-driven observer, a common adaptive output-feedback control strategy containing only one adaptive parameter is developed for such systems via a novel combination of common Lyapunov function method, backstepping technique, variable separation approach and neural network approximation. Under the proposed control scheme, the tracking error converges to an adjustable neighbourhood of the origin. Finally, two illustrative examples are included to verify the effectiveness of the proposed control design.
机译：研究了一类具有任意控制方向和未知对称饱和执行器的切换非严格反馈非线性系统的自适应跟踪控制问题。主要的技术困难来自在存在未知控制方向和未知非对称饱和非线性的情况下开发通用的自适应控制方案。利用线性状态变换来处理未知的控制系数，并使用基于高斯误差函数的平滑模型来近似非对称饱和非线性。基于输入驱动的观察器，通过通用Lyapunov函数方法，反步技术，变量分离方法和神经网络逼近的新颖组合，为此类系统开发了仅包含一个自适应参数的通用自适应输出-反馈控制策略。在提出的控制方案下，跟踪误差收敛到原点的可调邻域。最后，包括两个说明性示例，以验证所提出的控件设计的有效性。

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