题名 | A fully actuated system approach: Desired compensation adaptive robust control for uncertain nonlinear systems |
作者 | |
通讯作者 | Duan,Guangren |
发表日期 | 2024-06-01
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DOI | |
发表期刊 | |
ISSN | 0016-0032
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卷号 | 361期号:9 |
摘要 | A desired compensation adaptive robust control (DCARC) framework is presented for two types of fully actuated systems (FASs) subject to both parametric and nonlinear uncertainties based on the Lyapunov theory. The designed controller consists of three parts: (i) a fundamental linear state error feedback term; (ii) an adaptive feedforward compensation term; (iii) a robust compensation term. Different from the existing FAS approaches, the adaptive compensation in the proposed controller relies on the noise-free desired trajectory and online parameter estimate only. A better overall tracking performance with an accelerated transient response is expected, arising from significantly reducing interaction between the robustness part and the adaptation part. Through theoretical analysis, the proposed controller ensures that the estimation error of the unknown parameter vector and the tracking error finally converge to a bounded ellipsoid. The comparative simulation of a permanent magnet (PM) stepper motor demonstrates the effectiveness of the presented approach. |
关键词 | |
相关链接 | [Scopus记录] |
收录类别 | |
语种 | 英语
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学校署名 | 通讯
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ESI学科分类 | ENGINEERING
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Scopus记录号 | 2-s2.0-85191979848
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来源库 | Scopus
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引用统计 |
被引频次[WOS]:1
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成果类型 | 期刊论文 |
条目标识符 | http://sustech.caswiz.com/handle/2SGJ60CL/761083 |
专题 | 工学院_系统设计与智能制造学院 |
作者单位 | 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 |
通讯作者单位 | 系统设计与智能制造学院 |
推荐引用方式 GB/T 7714 |
Chen,Zhijun,Duan,Guangren. A fully actuated system approach: Desired compensation adaptive robust control for uncertain nonlinear systems[J]. Journal of the Franklin Institute,2024,361(9).
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APA |
Chen,Zhijun,&Duan,Guangren.(2024).A fully actuated system approach: Desired compensation adaptive robust control for uncertain nonlinear systems.Journal of the Franklin Institute,361(9).
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MLA |
Chen,Zhijun,et al."A fully actuated system approach: Desired compensation adaptive robust control for uncertain nonlinear systems".Journal of the Franklin Institute 361.9(2024).
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条目包含的文件 | 条目无相关文件。 |
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