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Event-triggered-based adaptive decentralized asymptotic tracking control scheme for a class of nonlinear pure-feedback interconnected systems
Nonlinear Dynamics ( IF 5.6 ) Pub Date : 2021-06-03 , DOI: 10.1007/s11071-021-06560-7
Xiaoan Wang , Kun Jiang , Guangju Zhang , Ben Niu

This paper focuses on the adaptive decentralized asymptotic tracking control problem for a family of nonlinear pure-feedback interconnected systems. Through the ingenious backstepping-based design, the controllers of all subsystems are developed to mitigate the effects of system interconnections. These controllers only need to update two parameters online in each subsystem; thus, the complexity of analytic calculations is successfully reduced. In addition, in order to acquire the desired tracking performance, some significant mathematical methods are used to eliminate the influence of the residual errors caused by the estimation algorithm. By Lyapunov analysis method, the semi-globally uniformly boundedness of all the signals in the resulting closed-loop system is proven. The proposed scheme has its own advantages: (1) hold the asymptotic output tracking performance; (2) release the requirements for known nonlinear terms in the design procedure; (3) reduce the transmitting frequency of computer and make the use of computer resources more efficient. Finally, rich simulation results are given to show the effectiveness of the proposed control scheme.



中文翻译:

一类非线性纯反馈互联系统的基于事件触发的自适应分散渐近跟踪控制方案

本文重点研究非线性纯反馈互连系统族的自适应分散渐近跟踪控制问题。通过巧妙的基于backstepping的设计,开发所有子系统的控制器以减轻系统互连的影响。这些控制器只需要在每个子系统中在线更新两个参数;因此,成功地降低了解析计算的复杂性。此外,为了获得理想的跟踪性能,采用了一些重要的数学方法来消除估计算法引起的残差的影响。通过李雅普诺夫分析方法,证明了所得闭环系统中所有信号的半全局一致有界性。提出的方案有其自身的优点:(1) 保持渐近输出跟踪性能;(2) 放宽设计程序中对已知非线性项的要求;(3)降低计算机的传输频率,使计算机资源的利用更加高效。最后,给出了丰富的仿真结果以证明所提出的控制方案的有效性。

更新日期:2021-06-04
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