Adaptive model reference tracking for high-order nonlinear time-varying systems with time-varying delays: A fully actuated system approach

Guangtai Tian; Guangren Duan

10.1109/CFASTA57821.2023.10243171

2023

979-8-3503-3217-9

2023 2nd Conference on Fully Actuated System Theory and Applications (CFASTA)

24-30

14-16 July 2023

Qingdao, China

In this paper, the adaptive model reference tracking (AMRT) problem for a general high-order nonlinear time-varying system with time-varying delays and unknown constant parameters is investigated by applying the fully actuated system (FAS) approach. An adaptive controller is designed for the high-order nonlinear system based on the Lyapunov stability theory. With the obtained adaptive control results, an AMRT controller is proposed to ensure that the tracking error system is asymptotically stable and the unknown parameter estimation error is bounded. The established AMRT controller is composed of three parts, the basic part cancels the known nonlinearities in the system and simultaneously assigns the linear dominant term in the closed-loop system, the adaptive part overcomes the effects of unknown constant parameters, the compensator part compensates the effect of the reference model state vector and control input to the tracking error. Based on the parametric solution to the Sylvester matrix equation, a complete parametric form of the AMRT controller is given. An application to spacecraft attitude system indicates satisfactory control system performances with the proposed AMRT scheme.

fully actuated system approach adaptive model reference tracking nonlinear systems unknown parameters time-varying delays

第一

CPCI-S ; EI

WOS:001071052200005

20234214881041

Adaptive control systems ; Control nonlinearities ; Controllers ; Errors ; Matrix algebra ; Nonlinear systems ; Time delay ; Time varying control systems

Electronic Circuits:713 ; Control Systems:731.1 ; Control Equipment:732.1 ; Algebra:921.1 ; Systems Science:961

IEEE

Department of Automation, Southern University of Science and Technology, Shenzhen, P. R. China

Guangtai Tian,Guangren Duan. Adaptive model reference tracking for high-order nonlinear time-varying systems with time-varying delays: A fully actuated system approach[C],2023:24-30.