This work presents an adaptive saturation compensation scheme for the strict-feedback uncertain systems with unknown control coefficient and input saturation. An adaptive saturation dynamic filter that does not require the a priori information of the completely unknown control coefficient is incorporated to correct position errors online to reduce the saturation effect. A Nussbaum-type function is employed to handle the unknown control coefficient and avoid the control singularity. The adaptive command-filtered backstepping is employed to derive the adaptive controller. The repeated differential operations of stabilizing functions required in the traditional backstepping are obviated due to command filters. It is analyzed that the designed adaptive controller achieves the system output tracking and the closed-loop uniform ultimate stability. A simulation example is provided to validate the scheme.

中文翻译：

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具有未知控制系数和输入饱和度的严格反馈系统的自适应饱和度补偿

这项工作为具有未知控制系数和输入饱和度的严格反馈不确定系统提出了一种自适应饱和度补偿方案。引入不需要完全未知控制系数先验信息的自适应饱和动态滤波器，在线修正位置误差，减少饱和效应。使用 Nussbaum 型函数处理未知控制系数并避免控制奇异性。自适应命令滤波反推用于推导自适应控制器。由于命令过滤器，消除了传统反步法所需的稳定函数的重复微分操作。分析了所设计的自适应控制器实现了系统输出跟踪和闭环均匀极限稳定。