This work investigates the semi-global tracking control of a class of uncertain nonlinear systems with input saturation, using adaptive backstepping controller and tuning function design. The control input has been represented as a product of a positive constant and a generalized saturation function of unit magnitude, where the constant parameter represents the saturation bound of the available input signal. It has been shown that the overall saturation problem can be realized as an equivalent problem involving no saturation if the system satisfies a sufficient condition. The condition represents a relationship between the saturation bound of the input signal and the upper bounds of tracking errors, disturbances, and uncertainties. To realize this fact physically, the proposed control algorithm has been implemented on a Twin Rotor Multi Input Multi Output System (TRMS). Experimental and simulation outcomes illustrate the validation of the derived control methodology along with robustness and performance analysis.

这项工作使用自适应反步控制器和调谐功能设计，研究了一类具有输入饱和度的不确定非线性系统的半全局跟踪控制。控制输入​​已表示为正常数和单位幅度的广义饱和函数的乘积，其中常数参数表示可用输入信号的饱和范围。已经表明，如果系统满足充分条件，则可以将总饱和度问题实现为不涉及饱和度的等效问题。该条件表示输入信号的饱和范围与跟踪误差，干扰和不确定性的上限之间的关系。要从物理上认识这一事实，提出的控制算法已在双转子多输入多输出系统（TRMS）上实现。实验和仿真结果说明了派生控制方法的有效性以及鲁棒性和性能分析。