On-line approximation control of uncertain nonlinear systems: issues with control input saturation
On-line approximation control of uncertain nonlinear systems: issues with control input saturation
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DOI：
10.1109/acc.2003.1239073
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发表时间：
2003-06
期刊：
影响因子：
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通讯作者：
M. Polycarpou;J. Farrell;Manu Sharma
中科院分区：
文献类型：
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作者：
M. Polycarpou;J. Farrell;Manu Sharma
各种类型和技术的在线逼近已被用于反馈控制的不确定非线性系统。在许多实际应用中，控制输入的饱和对自适应和学习控制系统的性能有着重要的影响。本文讨论了非线性系统在线逼近控制中的控制输入饱和问题。提出了一种改进的控制设计框架，用于防止输入饱和的存在破坏反馈控制系统中在线逼近器的学习能力和记忆。通过李雅普诺夫分析，所提出的反馈控制律的稳定性。特别强调的是飞机纵向控制，其结果扩展到反推反馈控制程序。
Various types and techniques of on-line approximation have been used in feedback control of uncertain non-linear systems. In many practical applications, saturation of the control input influences significantly the performance of adaptive and learning control systems. This article addresses the issue of control input saturation in on-line approximation based control of non-linear systems. A modified control design framework is presented for preventing the presence of input saturation from destroying the learning capabilities and memory of an on-line approximator in feedback control systems. The stability properties of the proposed feedback control law are obtained via Lyapunov analysis. Particular emphasis is given to aircraft longitudinal control, which extends the results to the backstepping feedback control procedure.