Adaptive repetitive control for a class of uncertain nonlinear systems with input delay

Yongbo Sun, Lan Zhou, Chengyang Li, Qin Yang, Wenbin Xiao
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引用次数: 0

Abstract

An adaptive repetitive control method is presented in this paper for a class of uncertain nonlinear systems with input delay and mismatched disturbances. The original tracking problem of the uncertain nonlinear system is divided into two subproblems: repetitive control problem of a primary linear time-invariant (LTI) system and robust stabilization problem of a secondary nonlinear system with input delay and mismatched disturbances. Repetitive control is used in the primary LTI system to handle the periodic signal, where a slight correction to amount of the time delay of the repetitive controller is introduced, leading to a significant improvement in steady-state tracking performance. Adaptive backstepping control is used in the secondary nonlinear system to deal with structural uncertainties and external disturbances, where an integral term is used to handle the time-delay input, and a first-order linear filter is used to estimate the derivative of the virtual control input. Both the controller design procedure and the stability criteria are provided. Simulation results demonstrate that the proposed control strategy has satisfactory tracking and disturbance-rejection performance.
一类输入时滞不确定非线性系统的自适应重复控制
针对一类具有输入时滞和失匹配扰动的不确定非线性系统,提出了一种自适应重复控制方法。将原不确定非线性系统的跟踪问题分为两个子问题:一是初级线性时不变系统的重复控制问题,二是具有输入延迟和失匹配扰动的次级非线性系统的鲁棒镇定问题。在主LTI系统中使用重复控制来处理周期信号,其中对重复控制器的时间延迟量进行轻微修正,导致稳态跟踪性能的显着改善。在二次非线性系统中采用自适应反步控制来处理结构不确定性和外部干扰,其中使用积分项来处理时滞输入,使用一阶线性滤波器来估计虚拟控制输入的导数。给出了控制器的设计步骤和稳定性判据。仿真结果表明,该控制策略具有良好的跟踪性能和抗扰性能。
本文章由计算机程序翻译,如有差异,请以英文原文为准。
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