Robust adaptive guaranteed cost tracking control for high-order nonlinear systems with uncertainties based on high-order fully actuated system approaches

Hu，Liyao1; Duan，Guangren1,2; Hou，Mingzhe1

2023

10.1002/rnc.6766

International Journal of Robust and Nonlinear Control   影响因子和分区

1049-8923

1099-1239

This article investigates the robust adaptive guaranteed cost tracking (RAGCT) control problems for two class of high-order nonlinear systems with time-varying uncertainties. A special nonlinear function, named as the local smooth nonlinear function, is introduced, which is crucial for our controller design. Then, using the function and the recently proposed high-order fully actuated (HOFA) system approaches, a novel RAGCT controller for HOFA system with time-varying uncertainty is designed, which guarantees the global boundedness of the closed-loop system within finite time. Then, based on the result about the above HOFA system, the RAGCT controller for a class of strict-feedback systems with high-order form and time-varying uncertainties is obtained, which also guarantees that the closed-loop system is globally bounded within finite time. Most importantly, two designed controllers can preset arbitrarily the upper bounds of cost functions characterizing the tracking performance independent of the system initial values and the time-varying uncertainties, which optimizes greatly the system tracking performance, and is difficult to achieve by using existing guaranteed cost control methods. Finally, two simulation examples including one-link manipulator are provided to show the effect and the practicability of our proposed control method.

guaranteed cost control high-order nonlinear systems robust adaptive control tracking control

SCI ; EI

英语

通讯

Science Center Program of National Natural Science Foundation of China[62188101] ; National Natural Science Foundation of China["62073096","61333003"] ; Major Program of National Natural Science Foundation of China["61690210","61690212"] ; State Key Laboratory of Robotics and System (HIT)[SKLRS201716A]

Automation & Control Systems ; Engineering ; Mathematics

Automation & Control Systems ; Engineering, Electrical & Electronic ; Mathematics, Applied

WOS:000993962300001

WILEY

20232214148745

Adaptive control systems ; Closed loop control systems ; Controllers ; Cost effectiveness ; Feedback control ; Manipulators ; Navigation ; Nonlinear systems ; Time varying control systems

Control Systems:731.1 ; Control Equipment:732.1 ; Industrial Economics:911.2 ; Optimization Techniques:921.5 ; Systems Science:961

ENGINEERING

2-s2.0-85160062577

Scopus

1.Center for Control Theory and Guidance Technology,Harbin Institute of Technology,Harbin,China
2.Center for Control Science and Technology,Southern University of Science and Technology,Shenzhen,China

Hu，Liyao,Duan，Guangren,Hou，Mingzhe. Robust adaptive guaranteed cost tracking control for high-order nonlinear systems with uncertainties based on high-order fully actuated system approaches[J]. International Journal of Robust and Nonlinear Control,2023,33(13):7583-7605.

Hu，Liyao,Duan，Guangren,&Hou，Mingzhe.(2023).Robust adaptive guaranteed cost tracking control for high-order nonlinear systems with uncertainties based on high-order fully actuated system approaches.International Journal of Robust and Nonlinear Control,33(13),7583-7605.

Hu，Liyao,et al."Robust adaptive guaranteed cost tracking control for high-order nonlinear systems with uncertainties based on high-order fully actuated system approaches".International Journal of Robust and Nonlinear Control 33.13(2023):7583-7605.