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Adaptive Preassigned Time Stabilisation of Uncertain Second-Order Sub-Fully Actuated Systems

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文摘 For a class of second-order sub-fully actuated systems (SOSFASs), this paper presents a preset-trajectory-based (PT-based) adaptive stabilising control method by integrating the function augmented sliding mode control (FASMC) technique and the flat-zone introduced Lyapunov function technique. The SOSFASs under study are subject to internal uncertainties and external disturbances. The proposed PT-based stabilising control method exhibits several attractive features: 1) The system states can converge to a predefined region close to zero in a preassigned time and can be confined in a preassigned ‘safe' area, which can make the control coefficient matrix always full rank so as to preserve the realizability of the proposed controller; 2) the utilization of flat-zone introduced Lyapunov function technique not only eliminates the chatting phenomenon, but also avoids the potential persistent increase problem of the adaptive law; and 3) the control gain increases as the adaptive law increases only when necessary, that is, when the current control gain is not sufficient to suppress uncertainties or disturbances, therefore, the conservativeness of the control design due to unnecessarily high control gain can be effectively reduced. The effectiveness of the proposed control method is verified via a numerical example.
来源 Journal of Systems Science and Complexity ,2022,35(2):703-713 【核心库】
DOI 10.1007/s11424-022-2042-3
关键词 Adaptive control ; fully-actuated systems ; sliding mode control ; sub-fully actuated systems
地址

Center for Control Theory and Guidance Technology, Harbin Institute of Technology, Harbin, 150001

语种 英文
文献类型 研究性论文
ISSN 1009-6124
学科 自动化技术、计算机技术
基金 国家自然科学基金 ;  the Science Center Program of National Natural Science Foundation of China ;  the Heilongjiang Touyan Team Program
文献收藏号 CSCD:7238869

参考文献 共 19 共1页

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1 Wu Aiguo Fully Actuated System Approaches: Theory and Applications Journal of Systems Science and Complexity,2022,35(2):437-440
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