{"title":"不确定全驱动系统基于降阶未知输入观测器的鲁棒自适应控制","authors":"Hong Jiang;Guangren Duan;Mingzhe Hou","doi":"10.1109/TCSI.2025.3559719","DOIUrl":null,"url":null,"abstract":"In this paper, a robust adaptive control scheme based on the unknown input observer is proposed for fully actuated systems with uncertainties. First, a nonlinear reduced-order unknown input observer with an integral term is introduced to decouple the uncertainties in the system and suppresses the output noises via the action of integral term. Then the linear matrix inequality for solving the observer gains is given by using the linear parameter varying method to treat the nonlinearity. Second, a robust adaptive controller based on the proposed observer, with the adaptive law to estimate the bound of uncertainties, is designed to make the states uniformly ultimately bounded. Due to the design of robust part, the ultimate bounds of states of the closed-loop system can be adjusted via the designed parameters. A simulation of the electromechanical system is given to demonstrate the effectiveness of the proposed method.","PeriodicalId":13039,"journal":{"name":"IEEE Transactions on Circuits and Systems I: Regular Papers","volume":"72 9","pages":"4946-4956"},"PeriodicalIF":5.2000,"publicationDate":"2025-04-22","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":"0","resultStr":"{\"title\":\"Robust Adaptive Control Based on Reduced-Order Unknown Input Observer for Fully Actuated Systems With Uncertainties\",\"authors\":\"Hong Jiang;Guangren Duan;Mingzhe Hou\",\"doi\":\"10.1109/TCSI.2025.3559719\",\"DOIUrl\":null,\"url\":null,\"abstract\":\"In this paper, a robust adaptive control scheme based on the unknown input observer is proposed for fully actuated systems with uncertainties. First, a nonlinear reduced-order unknown input observer with an integral term is introduced to decouple the uncertainties in the system and suppresses the output noises via the action of integral term. Then the linear matrix inequality for solving the observer gains is given by using the linear parameter varying method to treat the nonlinearity. Second, a robust adaptive controller based on the proposed observer, with the adaptive law to estimate the bound of uncertainties, is designed to make the states uniformly ultimately bounded. Due to the design of robust part, the ultimate bounds of states of the closed-loop system can be adjusted via the designed parameters. A simulation of the electromechanical system is given to demonstrate the effectiveness of the proposed method.\",\"PeriodicalId\":13039,\"journal\":{\"name\":\"IEEE Transactions on Circuits and Systems I: Regular Papers\",\"volume\":\"72 9\",\"pages\":\"4946-4956\"},\"PeriodicalIF\":5.2000,\"publicationDate\":\"2025-04-22\",\"publicationTypes\":\"Journal Article\",\"fieldsOfStudy\":null,\"isOpenAccess\":false,\"openAccessPdf\":\"\",\"citationCount\":\"0\",\"resultStr\":null,\"platform\":\"Semanticscholar\",\"paperid\":null,\"PeriodicalName\":\"IEEE Transactions on Circuits and Systems I: Regular Papers\",\"FirstCategoryId\":\"5\",\"ListUrlMain\":\"https://ieeexplore.ieee.org/document/10973110/\",\"RegionNum\":1,\"RegionCategory\":\"工程技术\",\"ArticlePicture\":[],\"TitleCN\":null,\"AbstractTextCN\":null,\"PMCID\":null,\"EPubDate\":\"\",\"PubModel\":\"\",\"JCR\":\"Q1\",\"JCRName\":\"ENGINEERING, ELECTRICAL & ELECTRONIC\",\"Score\":null,\"Total\":0}","platform":"Semanticscholar","paperid":null,"PeriodicalName":"IEEE Transactions on Circuits and Systems I: Regular Papers","FirstCategoryId":"5","ListUrlMain":"https://ieeexplore.ieee.org/document/10973110/","RegionNum":1,"RegionCategory":"工程技术","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":null,"EPubDate":"","PubModel":"","JCR":"Q1","JCRName":"ENGINEERING, ELECTRICAL & ELECTRONIC","Score":null,"Total":0}
Robust Adaptive Control Based on Reduced-Order Unknown Input Observer for Fully Actuated Systems With Uncertainties
In this paper, a robust adaptive control scheme based on the unknown input observer is proposed for fully actuated systems with uncertainties. First, a nonlinear reduced-order unknown input observer with an integral term is introduced to decouple the uncertainties in the system and suppresses the output noises via the action of integral term. Then the linear matrix inequality for solving the observer gains is given by using the linear parameter varying method to treat the nonlinearity. Second, a robust adaptive controller based on the proposed observer, with the adaptive law to estimate the bound of uncertainties, is designed to make the states uniformly ultimately bounded. Due to the design of robust part, the ultimate bounds of states of the closed-loop system can be adjusted via the designed parameters. A simulation of the electromechanical system is given to demonstrate the effectiveness of the proposed method.
期刊介绍:
TCAS I publishes regular papers in the field specified by the theory, analysis, design, and practical implementations of circuits, and the application of circuit techniques to systems and to signal processing. Included is the whole spectrum from basic scientific theory to industrial applications. The field of interest covered includes: - Circuits: Analog, Digital and Mixed Signal Circuits and Systems - Nonlinear Circuits and Systems, Integrated Sensors, MEMS and Systems on Chip, Nanoscale Circuits and Systems, Optoelectronic - Circuits and Systems, Power Electronics and Systems - Software for Analog-and-Logic Circuits and Systems - Control aspects of Circuits and Systems.