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Output feedback control of a tractor with N-trailer with a guaranteed performance

机译：具有N-Trailer的拖拉机的输出反馈控制，具有保证性能

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This paper proposes a saturated output-feedback trajectory tracking controller for an autonomous tractor with N-trailer with guaranteed desired performance specifications. At first, an input-output model of the tractor with N-trailer system is presented by a proper selection of the output variables vector. Based on a prescribed performance technique, a nonlinear transformation between the constrained errors to unconstrained ones is used to develop an open-loop error dynamic model in terms of the unconstrained filtered tracking error. Then, a saturated neural adaptive input-output feedback linearizing controller with a nonlinear observer is proposed to stabilize the tracking errors to the vicinities of the zero with a guaranteed prescribed performance in the presence of model uncertainties while avoiding the velocity measurements and reducing the risk of the actuator saturation simultaneously. Finally, a semi-global uniform ultimate boundedness stability of the closed-loop control system is proved via Lyapunov's direct method. At last, a computer simulation example will be provided to demonstrate the controller effectiveness for practical applications.
机译：本文提出了一种饱和的输出 - 反馈轨迹跟踪控制器，用于自主拖拉机，带有N拖车，保证所需的性能规格。首先，通过正确选择输出变量向量来呈现带有N拖车系统的拖拉机的输入 - 输出模型。基于规定的性能技术，在无约束误差的约束误差之间的非线性变换用于在不受约束的滤波跟踪误差方面开发开环错误动态模型。然后，提出了一种具有非线性观察者的饱和神经自适应输入输出反馈线性化控制器，以稳定到零附近的跟踪误差，在存在模型不确定性的情况下，在存在模型不确定性的同时，避免速度测量并降低风险执行器饱和。同时饱和。最后，通过Lyapunov的直接方法证明了闭环控制系统的半全局均匀终极边界稳定性。最后，将提供计算机仿真示例以展示实际应用的控制器效率。

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