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Tracking Control Strategy Using Filter-Based Approximation for theUnknown Control Direction Problem of Uncertain Pure-Feedback Nonlinear Systems
Mathematics ( IF 2.4 ) Pub Date : 2020-08-11 , DOI: 10.3390/math8081341
Yun Ho Choi , Sung Jin Yoo

A filter-based recursive tracker design approach is presented for the problem of unknown control directions of pure-feedback systems with completely unknown non-affine nonlinearities. In the controller design procedure, the first-order filters for error surfaces, a control input, and state variables are employed to design nonadaptive virtual and actual control laws independent of adaptive function approximators. In addition, for the unknown control direction problem, the filtering signals are incorporated with Nussbaum functions. Different from existing adaptive approximation-based control schemes in the presence of unknown control directions, the proposed approach does not require any adaptive technique regardless of completely unknown nonlinear functions. Therefore, a simplified tracking structure can be constructed. Using the Lyapunov stability analysis, it is shown that the tracking error is reduced within an adjustable neighborhood of the origin while ensuring all the closed-loop signals are bounded.

中文翻译:

不确定纯反馈非线性系统未知控制方向问题的基于滤波器近似的跟踪控制策略

针对具有完全未知的非仿射非线性的纯反馈系统的控制方向未知的问题,提出了一种基于滤波器的递归跟踪器设计方法。在控制器设计过程中,误差表面,控制输入和状态变量的一阶滤波器用于设计独立于自适应函数逼近器的非自适应虚拟和实际控制律。另外,对于未知的控制方向问题,滤波信号与Nussbaum函数结合在一起。与存在未知控制方向的现有基于自适应逼近的控制方案不同,无论完全未知的非线性函数如何,所提出的方法都不需要任何自适应技术。因此,可以构造简化的跟踪结构。
更新日期:2020-08-11
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