具有非对称时变输出约束的一类非线性系统的事件触发自适应跟踪控制
Event-triggered adaptive tracking control of a class of nonlinear systems with asymmetric time-varying output constraints
杨义涛 1张立东1
作者信息
- 1. 天津理工大学理学院,中国 天津市,300384
- 折叠
摘要
本文研究了带有延迟非对称时变(DATV)输出约束的事件触发自适应神经网络(NN)跟踪控制问题.为了处理DATV输出约束,首先建立了一个非对称时变障碍李亚普诺夫函数(ATBLF),以简化系统的稳定性分析和控制器构造.其次,引入误差转移函数构造事件触发的自适应神经网络跟踪控制器,保证跟踪误差在预定时间内收敛到原点的任意小邻域,进而优化网络资源的利用.从理论上严格证明了当系统初值处于约束边界外时,闭环系统中的所有信号都是半全局一致最终有界的(SGUUB).最后,通过单连杆机械臂(SLRA)应用实例验证了所获得的控制算法的可行性.
Abstract
This article investigates the event-triggered adaptive neural network(NN)tracking control problem with deferred asymmetric time-varying(DATV)output constraints.To deal with the DATV output constraints,an asymmetric time-varying barrier Lyapunov function(ATBLF)is first built to make the stability analysis and the controller construction simpler.Second,an event-triggered adaptive NN tracking controller is constructed by incorporating an error-shifting function,which ensures that the tracking error converges to an arbitrarily small neighborhood of the origin within a predetermined settling time,consequently optimizing the utilization of network resources.It is theoretically proven that all signals in the closed-loop system are semi-globally uniformly ultimately bounded(SGUUB),while the initial value is outside the constraint boundary.Finally,a single-link robotic arm(SLRA)application example is employed to verify the viability of the acquired control algorithm.
关键词
自适应控制/延迟非对称时变输出约束/误差转移函数/事件触发控制Key words
Adaptive control/Deferred asymmetric time-varying output constraints/Error-shifting function/Event-triggered control引用本文复制引用
基金项目
Natural Science Foundation of Tianjin,China(19JCYBJC30700)
出版年
2024
NETL
NSTL
万方数据