一类欧拉-拉格朗日系统的自适应切换跟踪控制

Adaptive Switching Tracking Control for a Class of Euler-Lagrange Systems

研究一类具有周期扰动的欧拉-拉格朗日系统的自适应切换跟踪控制问题.与相关文献本质不同的是,扰动具有未知周期和上界,导致传统的控制方法无效.首先,利用反推设计方法并结合扰动学习机制,给出状态反馈控制器(含有待调节的控制器参数)的显式形式.然后,设计适当的切换机制在线调节控制器参数.切换发生有限次之后停止,所设计的自适应切换控制器保证闭环系统所有状态都有界并且系统输出跟踪到给定的参考信号.最后,仿真实验验证理论结果的有效性.

This paper is devoted to the adaptive switching tracking control for a class of Euler-Lagrange systems with periodic perturbations.Essentially different from the related literature,the disturbance allows unknown period and bound and hence makes the traditional schemes on this topic ineffective.Firstly,the state feedback controller is explicitly constructed by combining the backstepping design scheme with learning mechanism for disturbance compensation(some controller parameters to be adjusted are included).Then,an appropriate switching mechanism is designed to adjust the controller parameters online.We prove that the paramter adjustment stops after a finite number of switchings,and then the proposed controller guarantees that all the states of the resulting closed-loop system are bounded while the system output tracks the given reference signal asymptotically.Finally,a simulation example is given to validate the effectiveness of the theoretical results.