状态与输入受限的二阶多输入多输出非线性系统自适应控制

Adaptive control for second order multi-input multi-output nonlinear systems with state and input constraints

中文关键词  障碍Lyapunov函数  动态面控制  状态与输入受限  自适应控制  航天器姿态

英文关键词  barrier Lyapunov function  dynamic surface control  state and input constraints  adaptive control  spacecraft attitude

中文摘要

      针对含有状态和输入受限的二阶多输入多输出非线性系统的控制问题，提出了一种自适应控制策略。通过综合利用障碍Lyapunov函数和动态面控制方法的特性，使得系统的状态满足约束条件而且能够减少计算量。此外，为了处理输入约束和系统中的不确定性的影响，分别设计了辅助系统和自适应算法。通过理论分析表明，闭环系统的所有状态都是有界的，而且系统的状态和输入都满足约束条件。最后，通过一个数值仿真算例和一个实际的航天器姿态控制系统的仿真来验证所提出的自适应控制策略的有效性。

英文摘要

      In this paper, an adaptive control scheme is proposed for second order uncertain multi-input multi-output (MIMO) nonlinear system with state and input constraints. The barrier Lyapunov function (BLF) and dynamic surface control (DSC) are combined such that the state constraints are not violated and the computation can be simplified. Moreover, to deal with the input constraint and the uncertainties in the system, the auxiliary design system and adaptive control technique are utilized. It is theoretically shown that all signals in the closed-loop system are bounded while the state and input constraints are not violated. Finally, the simulations on a numerical example and a practical spacecraft attitude control system are presented to illustrate the effectiveness of the proposed adaptive scheme.