A high-order adaptive dynamic surface output constraint control method based on fully actuated system approach is proposed for uncertain high-order strict-feedback systems with asymmetric time-varying output con-straints.The high-order strict-feedback system studied in this paper,each subsystem is a high-order form.The ori-ginal output constraint system is transformed into a new unconstrained system by nonlinear transformation func-tion,so that the original system output constraint problem is transformed into the new system output bounded problem.Furthermore,combined with the fully actuated system approach and the adaptive dynamic surface con-trol method,the controller is designed directly for each high-order subsystem as a whole without converting it into a first-order system form,which effectively reduces the design steps.At the same time,a series of low-pass filters are introduced to obtain the high-order derivative of the virtual control law to replace the complex differential opera-tion.Based on Lyapunov theory,it is proved that all signals of the closed-loop system are uniformly ultimately bounded.The system output can effectively track the desired reference signal without violating the constraints,and the system tracking error can be converged to any small neighborhood of the origin by adjusting the parameters.Fi-nally,the effectiveness of the control method is verified by simulating the flexible joint manipulator system.
关键词
全驱系统方法/高阶严反馈系统/时变输出约束/非线性转换函数/自适应动态面控制
Key words
Fully actuated system approach/high-order strict-feedback systems/time-varying output constraints/nonlinear transformation function/adaptive dynamic surface control
维普
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