CAJ | 학술논문

针对一类输入受限的非匹配不确定非线性系统，提出了一种抗饱和自适应反步控制方法。利用模糊干扰观测器在线逼近系统的未知非匹配不确定及干扰，采用反步控制方法设计自适应控制器。控制系统设计中引入限幅滤波器，有效降低了控制输入饱和对系统稳定性的影响，并且控制器设计无需对虚拟控制律进行重复求导。利用李亚普诺夫稳定性定理，证明了闭环系统渐近稳定。仿真结果表明了该方法的有效性。
침대일류수입수한적비필배불학정비선성계통，제출료일충항포화자괄응반보공제방법。이용모호간우관측기재선핍근계통적미지비필배불학정급간우，채용반보공제방법설계자괄응공제기。공제계통설계중인입한폭려파기，유효강저료공제수입포화대계통은정성적영향，병차공제기설계무수대허의공제률진행중복구도。이용리아보낙부은정성정리，증명료폐배계통점근은정。방진결과표명료해방법적유효성。
In this paper,a constrained adaptive control approach is proposed for nonlinear system with unmatched uncertainties. Fuzzy disturbance observer is used to approximate the unknown and unmatched uncertainties online. The backstepping method is adopted to design the adaptive controller.The command filter is introduced into the con-trol system,which can effectively decrease the effect of the control input saturation on system stability.The controller design avoids the repeated derivation for the virtual control law.The closed-loop system is verified to be asymptotical with Lyapunov stability theorem.Simulation results show the effectiveness of the proposed method.