| 基于障碍李雅普诺夫函数非线性系统的死区补偿控制 |
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| 引用本文： | 刘磊.基于障碍李雅普诺夫函数非线性系统的死区补偿控制[J].南京气象学院学报,2018,10(6):681-686. |
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| 作者姓名： | 刘磊 |
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| 作者单位： | 辽宁工业大学 理学院, 锦州, 121001 |
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| 基金项目： | 国家自然科学基金（61803190，61622303，61603164，61773188，61803189）；辽宁省创新团队（LT2016006）；辽宁特聘教授（辽教发[2015]153号）；辽宁省高等学校基本科研项目重点项目（JZL201715402） |
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| 摘 要： | 本文集中在带有部分状态约束的非线性单输入单输出系统的自适应控制器设计上.考虑了非对称死区的非线性输入特性，选取障碍李雅普诺夫函数用来阻止部分受约束的状态违反约束条件.根据障碍李雅普诺夫函数反步法，解决了该类系统的输出跟踪问题，同时也处理了死区非线性带来的影响.针对下三角结构的非线性系统，设计了自适应控制器，证明了闭环系统所有信号都是有界的，同时保证了系统输出可以跟踪上参考信号.最后，仿真结果表明了所提方法的有效性.
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| 关 键 词： | 约束控制 障碍李雅普诺夫函数 死区非线性输入 反步法 |
| 收稿时间： | 2018/7/19 0:00:00 |
Barrier Lyapunov function based compensation control for a class of nonlinear systems with dead zone |
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| LIU Lei.Barrier Lyapunov function based compensation control for a class of nonlinear systems with dead zone[J].Journal of Nanjing Institute of Meteorology,2018,10(6):681-686. |
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| Authors: | LIU Lei |
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| Institution: | College of Science, Liaoning University of Technology, Jinzhou 121001 |
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| Abstract: | An adaptive controller design for a class of nonlinear single-input single-output systems with partial state constraints is presented in this paper.The approach adopted is to consider the asymmetric dead zone of the non-linear systemsand employ the barrier Lyapunov function(BLF) to prevent partial states from transgressing the constraints.Using a BLF-based backstepping technique,a good tracking performance is obtained and the non-linearity of the dead zone is addressed.For the triangular system,an adaptive controller is designed.It is shown that all the signals in the resulting closed-loop system are bounded,and the system output can track the reference signal.The simulation results show the effectiveness of the proposed method. |
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| Keywords: | constrained control barrier Lyapunov function dead zone nonlinear input backstepping method |
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