Partial-state feedback adaptive stabilization for a class of uncertain nonholonomic systems

IF 3.9 4区计算机科学 Q2 AUTOMATION & CONTROL SYSTEMS

International Journal of Adaptive Control and Signal Processing Pub Date : 2024-04-17 DOI:10.1002/acs.3818

Jiangbo Yu, Yungang Liu, Chengdong Li, Yuqiang Wu

引用次数: 0

Abstract

In this paper, we investigate the global adaptive stabilization problem via partial-state feedback for a class of uncertain chained-form nonholonomic systems with the dynamic uncertainty and nonlinear parameterization. The notions of Sontag's input-to-state stability (ISS) and ISS-Lyapunov function, together with the changing supply rates technique are used to overcome the dynamic uncertainty. The nonlinear parameterization is well treated with the aid of the parameter separation technique. The discontinuous input-to-state scaling technique is employed in this procedure to derive the global stabilization controllers. Additionally, we develop a switching adaptive control strategy in order to get around the smooth stabilization burden associated with nonholonomic systems. The simulation results illustrate the efficacy of the presented algorithm.

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一类不确定非整体系统的部分状态反馈自适应稳定技术

摘要本文针对一类具有动态不确定性和非线性参数化的不确定链式非全局系统，通过部分状态反馈研究了全局自适应稳定问题。本文利用桑塔格输入到状态稳定性（ISS）和 ISS-Lyapunov 函数的概念，以及不断变化的供给率技术来克服动态不确定性。借助参数分离技术，非线性参数化得到了很好的处理。在此过程中，我们采用了非连续输入-状态缩放技术，以推导全局稳定控制器。此外，我们还开发了一种开关自适应控制策略，以解决与非全局系统相关的平滑稳定问题。仿真结果表明了所提出算法的有效性。

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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来源期刊

International Journal of Adaptive Control and Signal Processing 工程技术-工程：电子与电气

CiteScore

5.30

自引率

16.10%

发文量

163

审稿时长

5 months

期刊介绍： The International Journal of Adaptive Control and Signal Processing is concerned with the design, synthesis and application of estimators or controllers where adaptive features are needed to cope with uncertainties.Papers on signal processing should also have some relevance to adaptive systems. The journal focus is on model based control design approaches rather than heuristic or rule based control design methods. All papers will be expected to include significant novel material. Both the theory and application of adaptive systems and system identification are areas of interest. Papers on applications can include problems in the implementation of algorithms for real time signal processing and control. The stability, convergence, robustness and numerical aspects of adaptive algorithms are also suitable topics. The related subjects of controller tuning, filtering, networks and switching theory are also of interest. Principal areas to be addressed include: Auto-Tuning, Self-Tuning and Model Reference Adaptive Controllers Nonlinear, Robust and Intelligent Adaptive Controllers Linear and Nonlinear Multivariable System Identification and Estimation Identification of Linear Parameter Varying, Distributed and Hybrid Systems Multiple Model Adaptive Control Adaptive Signal processing Theory and Algorithms Adaptation in Multi-Agent Systems Condition Monitoring Systems Fault Detection and Isolation Methods Fault Detection and Isolation Methods Fault-Tolerant Control (system supervision and diagnosis) Learning Systems and Adaptive Modelling Real Time Algorithms for Adaptive Signal Processing and Control Adaptive Signal Processing and Control Applications Adaptive Cloud Architectures and Networking Adaptive Mechanisms for Internet of Things Adaptive Sliding Mode Control.