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Immersion and invariance adaptive control with sigma-modification for uncertain nonlinear systems
Han, Chao1,2; Liu, Zhen1; Yi, Jianqiang1
2018-03-01
发表期刊JOURNAL OF THE FRANKLIN INSTITUTE-ENGINEERING AND APPLIED MATHEMATICS
卷号355期号:5页码:2091-2111
文章类型Article
摘要A novel adaptive control with sigma-modification for uncertain nonlinear systems is proposed in the paper. The application of conventional adaptive control is severely limited by the problems of construction of Lyapunov function and parameter drift because of non-parametric uncertainties. The proposed adaptive control that is on the basis of the immersion and invariance theory and s-modification can be used to deal with these problems to some extent. It turns out to be a structured design method without requiring a Lyapunov function in the design level and robust to non-parametric uncertainties. Moreover, constrained command filter backstepping is adopted to meet the amplitude and rate constraints on the states and actuators. The uniformly ultimately bounded stability of the closed-loop system has been analyzed by Lyapunov theory with parametric and non-parametric uncertainties of the controlled model. To demonstrate the design flexibility, the method is applied to the position tracking control system design of a mass-damper-spring system and the flight control system design of a scramjet-powered air-breathing hypersonic vehicle. Finally, the effectiveness of the proposed adaptive control method is illustrated by numerical simulations. (C) 2018 The Franklin Institute. Published by Elsevier Ltd. All rights reserved.
关键词Immersion And Invariance Adaptive Σ-modification Uncertain Nonlinear System
WOS标题词Science & Technology ; Technology ; Physical Sciences
DOI10.1016/j.jfranklin.2017.12.006
关键词[WOS]BREATHING HYPERSONIC VEHICLE ; AERIAL VEHICLE ; DESIGN ; OBSERVER ; MODEL
收录类别SCI
语种英语
项目资助者National Natural Science Foundation of China(61421004 ; Beijing Advanced Innovation Center of Intelligent Robots and Systems(2016IRS23) ; 61603384 ; 61403381)
WOS研究方向Automation & Control Systems ; Engineering ; Mathematics
WOS类目Automation & Control Systems ; Engineering, Multidisciplinary ; Engineering, Electrical & Electronic ; Mathematics, Interdisciplinary Applications
WOS记录号WOS:000427827800002
引用统计
文献类型期刊论文
条目标识符http://ir.ia.ac.cn/handle/173211/21059
专题综合信息系统研究中心
通讯作者Liu, Zhen
作者单位1.Chinese Acad Sci, Inst Automat, Beijing 100190, Peoples R China
2.Univ Chinese Acad Sci, Beijing 100047, Peoples R China
推荐引用方式
GB/T 7714
Chao Han, Zhen Liu, Jianqiang Yi. Immersion and invariance adaptive control with σ-modification for uncertain nonlinear systems[J]. Journal of the Franklin Institute,2018,355(5):2091–2111.
APA Han, Chao,Liu, Zhen,&Yi, Jianqiang.(2018).Immersion and invariance adaptive control with sigma-modification for uncertain nonlinear systems.JOURNAL OF THE FRANKLIN INSTITUTE-ENGINEERING AND APPLIED MATHEMATICS,355(5),2091-2111.
MLA Han, Chao,et al."Immersion and invariance adaptive control with sigma-modification for uncertain nonlinear systems".JOURNAL OF THE FRANKLIN INSTITUTE-ENGINEERING AND APPLIED MATHEMATICS 355.5(2018):2091-2111.
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