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Command filter-based I&I adaptive control for MIMO uncertain systems with input saturation and disturbances

查看全文 作　　者：Qi [1]Han;Zhitao [1]Liu;Hongye [1]Su;Xiangbin [1,2]Liu 高影响力作者 机构地区：[1]State Key Laboratory of Industrial Control Technology,Institute of Cyber-Systems and Control,Zhejiang University,Hangzhou 310027,China;[2]School of Electronic Information Engineering,Beijing Jiaotong University,Beijing 100044,China高影响力机构 出　　处：《Science China(Information Sciences)》索引2023年第66卷第12期,共16页高影响力期刊 基　　金：supported in part by National Key R&D Program of China (Grant No.2021YFB3301000);National Natural Science Foundation of China (Grant No.62173297);Zhejiang Key R&D Program (Grant No.2022C01035);Fundamental Research Funds for the Central Universities (Grant No.226-2022-00086)。 摘　　要：This paper develops a control strategy based on immersion and invariance(I&I)adaptive methodology for a class of multi-input multi-output(MIMO)systems in the presence of parametric uncertainty,input saturation,and external disturbance.To avoid the analytic calculation in the backstepping process,a highgain auxiliary system is constructed to compensate for the effect of command filter error.The first-order command filters are also employed in the construction procedure of the I&I adaptive law to simplify its design and remove the structural conditions on the regressors.A filter-based disturbance observer is developed to counteract the effect of the external disturbance produced by a partially known exogenous system.To overcome the input saturation nonlinearity,a smooth function is introduced to approximate the input saturation with an extended state and a bounding estimation law.Stringent analysis guarantees the stability of closed-loop system.Finally,simulated examples confirm the effectiveness of the suggested method. 关 键 词：adaptive control command filtered backstepping disturbance observer immersion and invariance MIMO systems
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