基于自适应定时参数估计和跟踪控制的整定函数设计

IF 4.8 2区计算机科学 Q1 AUTOMATION & CONTROL SYSTEMS

Automatica Pub Date : 2025-04-10 DOI:10.1016/j.automatica.2025.112285

Wenrui Shi , Christodoulos Keliris , Mingzhe Hou , Marios M. Polycarpou

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引用次数: 0

摘要

现有的规定时间（PT）控制结果大多集中在镇定/调节问题上，只有少数结果考虑了跟踪控制问题。针对一类具有线性参数不确定性且不消失的严格反馈非线性系统，提出了一种自适应PT跟踪控制方法。利用归一化技术和一种新的截止函数，设计了一种基于双滤波器的参数估计误差重构机制。在此基础上，提出了一种改进的基于调谐函数的反步设计方案。与传统的基于整定函数的反演结果不同，在虚拟控制律、实际控制律和自适应律中嵌入了一些通过重构参数估计误差设计的附加项。此外，为了避免方案实施中可能出现的数值问题，提出了一种改进的自适应PT控制方案。最后，通过两个仿真实例验证了所提控制方法的有效性。

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Tuning function based adaptive prescribed-time parameter estimation and tracking control design

Most existing prescribed-time (PT) control results focus on the stabilization/regulation problem, with only a few results considering the tracking control problem. In this paper, an adaptive PT tracking control method is proposed for a class of strict feedback nonlinear systems with linearly parametric uncertainties which can be non-vanishing and include both matched and mismatched parts. By using the normalization technique and a novel cutoff function, a two-filter-based parameter estimation error reconstruction mechanism is designed. Furthermore, an improved tuning function based backstepping design solution is provided. Different from the classic tuning function based backstepping results, some additional terms which are designed through the reconstructed parameter estimation errors, are embedded into the virtual control laws, the actual control law and the adaptive laws. Moreover, in order to avoid potential numerical problems in the implementation of the scheme, a modified adaptive PT control scheme is proposed. Finally, two simulation examples are employed to illustrate the effectiveness of the proposed control method.

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来源期刊

Automatica 工程技术-工程：电子与电气

CiteScore

10.70

自引率

7.80%

发文量

617

审稿时长

5 months

期刊介绍： Automatica is a leading archival publication in the field of systems and control. The field encompasses today a broad set of areas and topics, and is thriving not only within itself but also in terms of its impact on other fields, such as communications, computers, biology, energy and economics. Since its inception in 1963, Automatica has kept abreast with the evolution of the field over the years, and has emerged as a leading publication driving the trends in the field. After being founded in 1963, Automatica became a journal of the International Federation of Automatic Control (IFAC) in 1969. It features a characteristic blend of theoretical and applied papers of archival, lasting value, reporting cutting edge research results by authors across the globe. It features articles in distinct categories, including regular, brief and survey papers, technical communiqués, correspondence items, as well as reviews on published books of interest to the readership. It occasionally publishes special issues on emerging new topics or established mature topics of interest to a broad audience. Automatica solicits original high-quality contributions in all the categories listed above, and in all areas of systems and control interpreted in a broad sense and evolving constantly. They may be submitted directly to a subject editor or to the Editor-in-Chief if not sure about the subject area. Editorial procedures in place assure careful, fair, and prompt handling of all submitted articles. Accepted papers appear in the journal in the shortest time feasible given production time constraints.