Nonlinear uncertain systems with nonlinear control channel and unilateral input constraints

被引：1

作者：

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

Chen, Ye-Hwa ^{[2
,3
]}

Sun, Hao ^{[1
,4
]}

Zhao, Han ^{[1
,4
]}

机构：

[1] Hefei Univ Technol, Sch Mech Engn, Hefei, Peoples R China

[2] Georgia Inst Technol, George W Woodruff Sch Mech Engn, Atlanta, GA 30332 USA

[3] Changan Univ, Key Lab Rd Construct Technol & Equipment MOE, Xian, Peoples R China

[4] Changan Univ, Key Lab Expressway Construct Machinery Shaanxi Pr, Xian 710064, Peoples R China

来源：

INTERNATIONAL JOURNAL OF CONTROL | 2022年 / 95卷 / 05期

关键词：

Nonlinear systems; uncertainty; input constraint; boundary control; time-varying disturbance; CONTROL DESIGN; ROBUST-CONTROL;

D O I：

10.1080/00207179.2020.1841911

中图分类号：

TP [自动化技术、计算机技术];

学科分类号：

0812 ;

摘要：

In this paper, we study the constraints of control inputs, which is important to system performance, but rarely noticed. To deal with the constraints in practical situations, a new approach is proposed based on using diffeomorphism, which is the first introduced. Based on this transformation, the control input can be regarded as a function of an auxiliary variable. As a result, the value of control input is limited to a prescribed bound by choosing the proper bounded function. That is, it provides a new aspect to deal with the inequality control input constraints. The range of the input bounds is related to the uncertainties and can be designed according to the actual situation. This novel control is proven to guarantee uniform boundedness and uniform ultimate boundedness. In the simulation, we show this control renders a superior performance at a lower control cost, comparing with the LQR control.

引用

页码：1164 / 1173

页数：10

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