基于免疫函数的输入死区未知严格反馈非线性系统投影自适应指令滤波反步控制  

Projection-Based Adaptive Command Filtered and Finite-Time Backstepping Control for Unknown Strict Feedback Nonlinear Systems Based on Immune Function with Dead-Zone Input

作　　者：宫赤坤[1] 汝青杨 袁立鹏[2] GONG Chikun;RU Qingyang;YUAN Lipeng(School of Mechanical Engineering,University of Shanghai for Science and Technology,Shanghai 200093;School of Mechanical and Electrical Engineering,Harbin Institute of Technology,Harbin 150001)

机构地区：[1]上海理工大学机械工程学院,上海200093 [2]哈尔滨工业大学机电工程学院,哈尔滨150001

出　　处：《系统科学与数学》2023年第3期543-558,共16页Journal of Systems Science and Mathematical Sciences

基　　金：国家重点研发计划(2018YFB2000700);xx科技创新特区项目(201-CXCY-A06-01-05-01);留学人员回国创业启动支持计划(RSB2021141)资助课题。

摘　　要：为解决含有未知项以及输入死区的严格反馈非线性系统跟踪控制问题,提出一种基于免疫函数的投影自适应指令滤波有限时间控制方法.该方法使用免疫函数构造扩张状态观测器对具有输入死区控制系统中的未知项进行逼近,并使用指令滤波解决反步法中微分爆炸问题,建立滤波误差补偿机制降低滤波误差对跟踪精度的影响,同时使用投影算子保证了自适应参数的有界性.与现有文献中基于障碍李雅普诺夫函数的自适应反步约束控制相比较,文章可同时约束系统状态、补偿跟踪误差以及自适应参数在预设的范围内,保证了闭环系统中所有信号有界,结合有限时间控制加快了控制系统的收敛速度.最后仿真结果表明了文章控制方法的有效性.To handle the tracking control problem of unknown strict feedback nonlinear control systems with dead zone input,a projection-based adaptive command filtered and finite-time control strategy is proposed based on immune function.The immune function and the extended state observer are utilized to estimate the unknowninformation of control systems with dead-zone input. The command fltering is usedto cope with the derivative explosion problem occurred in the backstepping methodand the error compensation mechanism is established to diminish the impact of thefiltering error on tracking accuracy. The projection operator ensures the boundednessof adaptive parameters. Compared with the literature on adaptive backsteppingconstrained control based on a barrier Lyapunov function, this paper simultaneouslyguarantees system states, the compensated tracking errors and adaptive parameterswithin pre-assigned certain bounds and ensures the boundedness of all closed-loopsystem signals. It enhances the controller's convergence rate by using the finite-timecontrol. Finally, a simulation example shows the effectiveness of the proposed controlstrategy.

关 键 词：输入死区 免疫函数 障碍李雅普诺夫函数 投影算子 指令滤波 

分 类 号：TP273[自动化与计算机技术—检测技术与自动化装置]