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Nested Saturated Control of Uncertain Complex Cascade Systems Using Mixed Saturation Levels

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This study addresses the problem of global asymp-totic stability for uncertain complex cascade systems composed of multiple integrator systems and non-strict feedforward nonlinear systems.To tackle the complexity inherent in such structures,a novel nested saturated control design is proposed that incorpo-rates both constant saturation levels and state-dependent satura-tion levels.Specifically,a modified differentiable saturation func-tion is proposed to facilitate the saturation reduction analysis of the uncertain complex cascade systems under the presence of mixed saturation levels.In addition,the design of modified differ-entiable saturation function will help to construct a hierarchical global convergence strategy to improve the robustness of control design scheme.Through calculation of relevant inequalities,time derivative of boundary surface and simple Lyapunov function,saturation reduction analysis and convergence analysis are car-ried out,and then a set of explicit parameter conditions are pro-vided to ensure global asymptotic stability in the closed-loop sys-tems.Finally,a simplified system of the mechanical model is pre-sented to validate the effectiveness of the proposed method.

Meng Li、Zhigang Zeng

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Wuhan National Laboratory for Optoelectronics,Wuhan 430074

School of Artificial Intelligence and Automation,Huazhong University of Science and Technology,Wuhan 430074,China

School of Artificial Intelligence and Automation,Huazhong University of Science and Technology,Wuhan 430074

Key Laboratory of Image Processing and Intelligent Control of Education Ministry of China,Wuhan 430074,China

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国家自然科学基金国家自然科学基金国家自然科学基金National Key Rsearch and Development Program of China中国博士后科学基金Innovation Group Project of the National Natural Science Foundation of ChinaTechnology Innovation Project of Hubei Province of China111 Project on Computational Intelligence and Intelligent Control

62203178U1913602619360042021ZD02013002021TQ0116618210032019AE A171B18024

2024

10.1109/JAS.2023.124176

相关文献
[1]Meng Li,Zhigang Zeng.Nested Saturated Control of Uncertain Complex Cascade Systems Using Mixed Saturation Levels[J].IEEE/CAA journal of automatica sinica,2024,11(5):1163-1174.
[2]王勇,马儒宁.基于嵌套侵润控制的非线性前馈系统的全局镇定[J].自动化学报,2010,36(4):528-533.
[3]Meng Li,Zhigang Zeng.Modified Nested Saturated Control for Uncertain Multiple Integrators With High-Order Nonlinear Perturbation[J].IEEE transactions on cybernetics,2024,54(4):2086-2098.
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自动化学报(英文版)
中国自动化学会,中国科学院自动化研究所,中国科技出版传媒股份有限公司

自动化学报(英文版)

CSTPCDEI
ISSN：2329-9266
年,卷(期)：2024.11(5)
Meng Li,Zhigang Zeng.Nested Saturated Control of Uncertain Complex Cascade Systems Using Mixed Saturation Levels[J].自动化学报(英文版),2024,11(5):1163-1174.DOI:10.1109/JAS.2023.124176.
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