Adaptive prescribed performance control of output constrained hybrid-powered barrel elevator with dual-model uncertainty compensation

IF 1.5 4区工程技术 Q3 ENGINEERING, MECHANICAL

Journal of Mechanical Science and Technology Pub Date : 2024-09-03 DOI:10.1007/s12206-024-0838-x

Yukai Wei, Linfang Qian, Quan Zou, Longmiao Chen, Shoucheng Nie

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引用次数: 0

Abstract

This study concerns the position tracking control of the hybrid-powered barrel elevator (HPBE) with dual-channel model uncertainty and output constraints. To realize an outstanding control performance, a dual-extended-state-observer-based command filtered adaptive prescribed performance control (DESO-CFAPPC) strategy is presented based on the dynamic model considering various nonlinearities and model uncertainties. The conjunction of the PPC and barrier Lyapunov function in the DESO-CFAPPC not only prevents violation of output constraints of the barrel, but also prevents the complex calculation caused by the logarithmic ETF in the traditional PPC. The adaptive laws are constructed to estimate uncertain parameters. The DESO further estimates the unknown velocity, mismatched and matched model uncertainties. The obtained estimates are incorporated into the control law to enhance the tracking performance. The stability and convergence of the DESO-CFAPPC are theoretically proved and comparative experimental results indicate the effectiveness of the proposed strategy.

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采用双模型不确定性补偿的输出受限混合动力筒式升降机的自适应规定性能控制

本研究涉及具有双通道模型不确定性和输出约束的混合动力筒式电梯（HPBE）的位置跟踪控制。为了实现出色的控制性能，在考虑了各种非线性和模型不确定性的动态模型基础上，提出了一种基于双扩展状态观测器的指令滤波自适应规定性能控制（DESO-CFAPPC）策略。DESO-CFAPPC 中的 PPC 与屏障 Lyapunov 函数相结合，不仅能防止违反桶的输出约束，还能避免传统 PPC 中对数 ETF 带来的复杂计算。自适应法则的构建是为了估计不确定的参数。DESO 进一步估算未知速度、不匹配和匹配模型的不确定性。获得的估计值被纳入控制法则，以提高跟踪性能。理论证明了 DESO-CFAPPC 的稳定性和收敛性，对比实验结果表明了所提策略的有效性。

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

Journal of Mechanical Science and Technology 工程技术-工程：机械

CiteScore

2.90

自引率

6.20%

发文量

517

审稿时长

7.7 months

期刊介绍： The aim of the Journal of Mechanical Science and Technology is to provide an international forum for the publication and dissemination of original work that contributes to the understanding of the main and related disciplines of mechanical engineering, either empirical or theoretical. The Journal covers the whole spectrum of mechanical engineering, which includes, but is not limited to, Materials and Design Engineering, Production Engineering and Fusion Technology, Dynamics, Vibration and Control, Thermal Engineering and Fluids Engineering. Manuscripts may fall into several categories including full articles, solicited reviews or commentary, and unsolicited reviews or commentary related to the core of mechanical engineering.