Adaptive Pseudo Inverse Control for a Class of Nonlinear Asymmetric and Saturated Nonlinear Hysteretic Systems
Adaptive Pseudo Inverse Control for a Class of Nonlinear Asymmetric and Saturated Nonlinear Hysteretic Systems
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DOI：
10.1109/jas.2020.1003435
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发表时间：
2021-04
期刊：
影响因子：
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通讯作者：
Xiuyu Zhang;Ruijing Jing;Zhiwei Li;Zhi Li;Xinkai Chen;C. Su
中科院分区：
文献类型：
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作者：
Xiuyu Zhang;Ruijing Jing;Zhiwei Li;Zhi Li;Xinkai Chen;C. Su
本文旨在通过设计滞环伪逆补偿器和鲁棒自适应动态曲面控制(DSC)方案来消除不对称和饱和滞环非线性。“伪逆”是指对含有真实控制信号的设计临时控制信号采用搜索法，建立一种近似控制信号的在线计算机制。本文的主要贡献概括为：1)由于真饱和型滞环逆模型的构造非常困难，首次采用滞环伪逆补偿器对不对称饱和滞环进行补偿；2)通过设计饱和型滞环伪逆补偿器，在处理饱和型滞环时不需要构造真显式滞环逆并辨识其对应的未知参数；3)将DSC技术与跟踪误差变换函数相结合，克服了反推方法的“复杂性爆炸”问题，达到了预定的跟踪性能。稳定性分析和在半实物平台上的实验结果验证了所提出的自适应伪逆控制方案的有效性。
This paper aims at eliminating the asymmetric and saturated hysteresis nonlinearities by designing hysteresis pseudo inverse compensator and robust adaptive dynamic surface control (DSC) scheme. The “pseudo inverse” means that an on-line calculation mechanism of approximate control signal is developed by applying a searching method to the designed temporary control signal where the true control signal is included. The main contributions are summarized as: 1) to our best knowledge, it is the first time to compensate the asymmetric and saturated hysteresis by using hysteresis pseudo inverse compensator because the construction of the true saturated-type hysteresis inverse model is very difficult; 2) by designing the saturated-type hysteresis pseudo inverse compensator, the construction of true explicit hysteresis inverse and the identifications of its corresponding unknown parameters are not required when dealing with the saturated-type hysteresis; 3) by combining DSC technique with the tracking error transformed function, the “explosion of complexity” problem in backstepping method is overcome and the prespecified tracking performance is achieved. Analysis of stability and experimental results on the hardware-in-loop platform illustrate the effectiveness of the proposed adaptive pseudo inverse control scheme.