Pattern-Moving-Based Partial Form Dynamic Linearization Model Free Adaptive Control for a Class of Nonlinear Systems

被引：4

作者：

Li, Xiangquan ^{[1
,2
,3
]}

Xu, Zhengguang ^{[1
,2
]}

机构：

[1] Univ Sci & Technol Beijing, Sch Automat & Elect Engn, Beijing 100083, Peoples R China

[2] Minist Educ, Key Lab Knowledge Automat Ind Proc, Beijing 100083, Peoples R China

[3] Jingdezhen Univ, Sch Informat Engn, Jingdezhen 333000, Peoples R China

来源：

ACTUATORS | 2021年 / 10卷 / 09期

基金：

中国国家自然科学基金;

关键词：

pattern moving; partial form dynamic linearization (PFDL); nonlinear system; two-player zero-sum game; model free adaptive control (MFAC); MULTIAGENT SYSTEMS; DESIGN; GAME;

D O I：

10.3390/act10090223

中图分类号：

TH [机械、仪表工业];

学科分类号：

0802 ;

摘要：

This work addresses a pattern-moving-based partial form dynamic linearization model free adaptive control (P-PFDL-MFAC) scheme and illustrates the bounded convergence of its tracking error for a class of unknown nonaffine nonlinear discrete-time systems. The concept of pattern moving is to take the pattern class of the system output condition as a dynamic operation variable, and the control purpose is to ensure that the system outputs belong to a certain pattern class or some desired pattern classes. The P-PFDL-MFAC scheme mainly includes a modified tracking control law, a deviation estimation algorithm and a pseudo-gradient (PG) vector estimation algorithm. The classification-metric deviation is considered as an external disturbance, which is caused by the process of establishing the pattern-moving-based system dynamics description, and an improved cost function is proposed from the perspective of a two-player zero-sum game (TP-ZSG). The bounded convergence of the tracking error is rigorously proven by the contraction mapping principle, and the validity of the theoretical results is verified by simulation examples.

引用

页数：20

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