Neural networks-based adaptive tracking control for full-state constrained switched nonlinear systems with periodic disturbances and actuator saturation

IF 4.9 4区计算机科学 Q1 AUTOMATION & CONTROL SYSTEMS

International Journal of Systems Science Pub Date : 2023-09-07 DOI:10.1080/00207721.2023.2241959

Yumeng Cao, Ning Xu, Huanqing Wang, Xudong Zhao, A. Ahmad

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引用次数: 8

Abstract

In this paper, an adaptive tracking control approach is developed for full-state constrained switched nonlinear systems that have actuator saturation, periodic disturbances and unknown control direction. To deal with the full-state constraints, the Barrier Lyapunov functions are introduced to limit the state variables within the corresponding constraint conditions. Meanwhile, the Fourier series expansion technology is employed to deal with unknown periodic disturbances and unknown nonlinear dynamics jointly. Additionally, a Nussbaum-type function is used in the controller design to cope with the and unknown control gain and input saturation. On the basis of the Lyapunov stability theory, it is demonstrated rigorously that all signals of the closed-loop system are uniformly ultimately bounded, and the proposed controller ensures that the tracking error is kept within a compact set close to zero. In the end, the validity of the designed control protocol is verified by a simulation example.

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具有周期扰动和执行器饱和的全状态约束切换非线性系统的神经网络自适应跟踪控制

针对具有执行器饱和、周期性扰动和控制方向未知的全状态约束切换非线性系统，提出了一种自适应跟踪控制方法。为了处理全状态约束，引入了Barrier Lyapunov函数，将状态变量限制在相应的约束条件内。同时，采用傅立叶级数展开技术对未知周期扰动和未知非线性动力学进行联合处理。此外，在控制器设计中使用了Nussbaum型函数来处理未知的控制增益和输入饱和。在李雅普诺夫稳定性理论的基础上，严格证明了闭环系统的所有信号都是一致最终有界的，并且所提出的控制器确保跟踪误差保持在接近零的紧集内。最后，通过仿真实例验证了所设计的控制协议的有效性。

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 Systems Science 工程技术-计算机：理论方法

CiteScore

8.00

自引率

9.30%

发文量

164

审稿时长

7.7 months

期刊介绍： International Journal of Systems Science (IJSS) is a world leading journal dedicated to publishing high quality, rigorously reviewed, original papers that contribute to the methodology and practice in emerging systems engineering themes of intelligence, autonomy and complexity. Modern systems are becoming more and more complex and sophisticated in their demand for performance, reliability and increasing autonomy. Historically, highly analytic and numeric-based methods have sufficed, frequently simplifying the problem to allow analytical tractability. Many manufactured and natural systems (biological, ecological and socio-economic) cannot be adequately represented or analyzed without requiring multiple interacting and interconnected frameworks and a common information-processing framework. A wide range of new theories, methodologies and techniques are required to ‘enable’ such systems, and thus engineering and integration to deal with these demands. IJSS therefore encourages original submissions in these areas, with special focus on papers that are strongly novel as well as not being overly applied. Proposals for special issues in cutting-edge areas of systems science are encouraged, and should be discussed with the Editor-in-Chief. Papers that cover those topics related to operations management and logistics will not be accepted for publication in IJSS. Instead they should be submitted directly to sister journal International Journal of Systems Science: Operations & Logistics. Queries regarding submissions can be made by contacting the Editor-in-Chief, whose decision is final.