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

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

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  • NETL
  • NSTL
  • IEEE
This study addresses the problem of global asymptotic 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 incorporates both constant saturation levels and state-dependent saturation levels。 Specifically， a modified differentiable saturation function 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 differentiable 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 carried out， and then a set of explicit parameter conditions are provided to ensure global asymptotic stability in the closed-loop systems。 Finally， a simplified system of the mechanical model is presented to validate the effectiveness of the proposed method。

Asymptotic stabilityControl designDifferential equationsRobustnessMathematical modelsComplexity theoryNonlinear systems

Meng Li、Zhigang Zeng

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Wuhan National Laboratory for Optoelectronics, Wuhan, China|School of Artificial Intelligence and Automation, Huazhong University of Science and Technology, Wuhan, China

School of Artificial Intelligence and Automation, Huazhong University of Science and Technology, Wuhan, China|Key Laboratory of Image Processing and Intelligent Control of Education Ministry of China, Wuhan, China

2024

10.1109/JAS.2023.124176

IEEE/CAA journal of automatica sinica

IEEE/CAA journal of automatica sinica

ISSN：
年,卷(期)：2024.11(5)
  • 46