A filtered adaptive constrained sampled‐data controller for uncertain multivariable nonlinear systems in the presence of various constraints is synthesized in this paper. A piecewise constant adaptive law drives that estimation error dynamics to zero at each sampling time instant yields adaptive parameters. The filtered control scheme consists of two components. Based on an estimation/cancellation strategy, a disturbance rejection control law is designed to compensate the nonlinear uncertainties within the bandwidth of low‐pass filters, whereas a constraint violation avoidance control law is designed to solve an online constrained optimization problem. Although a reduced sampling time helps to minimize the estimation error caused by the neglect of unknowns, the resulting aggressive signals put more restrictions on the control law. Greater sacrifice of tracking performance is required to satisfy the constraints. The constraints violation avoidance control law is in favor of a larger sampling time. Sufficient conditions are given to guarantee the stability of the closed‐loop system with the sampled‐data controller, where the input/output signals are held constant over the sampling period. Numerical examples are provided to validate the theoretical results, comparisons between the constrained sampled‐data controller and unconstrained adaptive controller with the implementation of different sampling times are carried out.

中文翻译：

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不确定多变量非线性系统的滤波自适应约束采样数据控制

本文综合了存在多种约束条件的不确定多变量非线性系统的滤波自适应约束采样数据控制器。分段常数自适应定律驱动在每个采样时刻将估计误差动态为零，从而产生自适应参数。过滤后的控制方案由两个部分组成。基于估计/取消策略，设计了一种扰动抑制控制律，以补偿低通滤波器带宽内的非线性不确定性，而设计了一种避免违反约束的控制律，以解决在线约束优化问题。尽管减少的采样时间有助于最大程度地减少由于忽略未知因素而引起的估计误差，但由此产生的激进信号对控制律施加了更多限制。为了满足这些约束，需要牺牲更大的跟踪性能。约束违反规避控制法则有利于更长的采样时间。给出了充分的条件以保证使用采样数据控制器的闭环系统的稳定性，其中输入/输出信号在采样周期内保持恒定。通过数值算例验证了理论结果，比较了采样时间不同的约束采样数据控制器与无约束自适应控制器之间的差异。给出了充分的条件以保证使用采样数据控制器的闭环系统的稳定性，其中输入/输出信号在采样周期内保持恒定。通过数值算例验证了理论结果，比较了采样时间不同的约束采样数据控制器与无约束自适应控制器之间的差异。给出了充分的条件以保证使用采样数据控制器的闭环系统的稳定性，其中输入/输出信号在采样周期内保持恒定。通过数值算例验证了理论结果，比较了采样时间不同的约束采样数据控制器与无约束自适应控制器之间的差异。