Output-feedback global tracking for unknown control direction plants with application to extremum-seeking control
Output-feedback global tracking for unknown control direction plants with application to extremum-seeking control
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DOI：
10.1016/j.automatica.2011.05.021
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发表时间：
2011-09
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影响因子：
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通讯作者：
T. R. Oliveira;L. Hsu;A. J. Peixoto
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文献类型：
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作者：
T. R. Oliveira;L. Hsu;A. J. Peixoto
本文针对相对度为一、控制方向未知（即高频增益（HFG）符号未知）的单输入单输出（SISO）不确定对象设计滑模跟踪控制器。我们证明，对于一类具有非线性输出函数的线性设备，通过将最近引入的周期性切换函数与众所周知的模型参考控制（MRC）控制参数化相结合，可以仅使用输出反馈来实现全局精确跟踪。仿真结果说明了良好的跟踪性能。新方案的一个显着优势是其对时变控制方向的鲁棒性，这在理论上对于 HFG 的跳跃变化是合理的，并在更一般的条件下通过模拟成功进行了测试。这一性质使其足以解决求极值问题。为一类仅使用输出反馈的具有非线性输出函数的系统提供了理论论证。防抱死制动系统 (ABS) 中车轮打滑控制的应用说明了所提出的控制方案的实际可行性。
This paper addresses the design of a sliding mode tracking controller for single-input–single-output (SISO) uncertain plants with relative degree one and unknown control direction, i.e., with unknown sign of the high frequency gain (HFG). We demonstrate that, for a class of linear plants with nonlinear output function, it is possible to achieve global exact tracking using only output-feedback by combining a recently introduced periodic switching function with a well-known control parameterization of Model Reference Control (MRC). Simulation results are presented to illustrate the good tracking performance. One significant advantage of the new scheme is its robustness to time-varying control direction which is here theoretically justified for jump variations of the HFG and successfully tested by simulation in more general conditions. This property makes it adequate for solving extremum-seeking problems. Theoretical justification is presented for a class of systems with nonlinear output function using only output-feedback. An application to the wheel slip control in Antilock Braking Systems (ABSs) illustrates the practical viability of the proposed control scheme.