In this paper, sampled-data adaptive robust control is proposed for a class of uncertain cascaded nonlinear system with states and inputs constraints. The systematic design procedure can be divided into two steps: i) design a sampled-data adaptive robust controller for the plant to not only stabilize the closed-loop system but also track the desired command although there are a variety of uncertainties and disturbances in the system; ii) design a reference governor for the control system to avoid the states and inputs violating their limits. Finally, the proposed method is employed in Motor-servo system to demonstrate the effectiveness.

中文翻译：

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一类级联非线性系统的约束采样数据 ARC 及其在电机伺服系统中的应用


本文针对一类具有状态和输入约束的不确定级联非线性系统，提出了采样数据自适应鲁棒控制。系统设计过程可分为两个步骤：i）为被控对象设计一个采样数据自适应鲁棒控制器，不仅可以稳定闭环系统，而且可以跟踪所需的命令，尽管系统中存在各种不确定性和干扰。系统; ii) 为控制系统设计一个参考调节器，以避免状态和输入违反其限制。最后，将该方法应用于电机伺服系统中，验证了该方法的有效性。