Adaptive tracking control of a class of linear systems with constrained actuators

Xiaozheng Jin, Jiahu Qin, Yu Kang
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Abstract

In this paper, the problem of adaptive tracking control for a class of linear continuous time-invariant systems subject to constrained actuators is investigated. A novel control strategy is developed to ensure the bounded tracking of the systems. Based on Lyapunov stability theory, a result that indicates the tracking bound can be reduced as small as desired via adjusting control parameters is obtained. Then the control strategy is improved to guarantee that actuator action behaves in the limitation of maximum magnitude of actuators. Finally, simulation results of a cruise keeping marine vehicle are given to illustrate the proposed procedures and their effectiveness.
一类具有约束作动器的线性系统的自适应跟踪控制
研究了一类受约束作动器约束的线性连续定常系统的自适应跟踪控制问题。为了保证系统的有界跟踪,提出了一种新的控制策略。基于李雅普诺夫稳定性理论,得到了通过调整控制参数可以使跟踪界尽可能小的结果。然后对控制策略进行改进,以保证执行器的动作在执行器最大幅值的限制下表现。最后,给出了一艘巡航保持船舶的仿真结果,说明了所提方法及其有效性。
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