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Barrier Function Based Adaptive Sliding Mode Control for Uncertain Systems With Input Saturation

文献类型：期刊论文

作者Shao, Ke4; Zheng, Jinchuan3; Tang, Rongchuan2; Li, Xiu4; Man, Zhihong3; Liang, Bin1
刊名IEEE-ASME TRANSACTIONS ON MECHATRONICS
出版日期2022-03-08
页码11
关键词Actuators Upper bound Uncertainty Uncertain systems Stability analysis Adaptive systems Sliding mode control Adaptive control barrier function (BF) input saturation sliding mode
ISSN号1083-4435
DOI10.1109/TMECH.2022.3153670
通讯作者Shao, Ke(shao.ke@sz.tsinghua.edu.cn) ; Liang, Bin(bliang@tsinghua.edu.cn)
英文摘要This article aims to present a barrier function based adaptive sliding mode (BFASM) control scheme for a class of uncertain nonlinear systems with actuator saturation. In conventional adaptive sliding mode control for saturated systems, the adaptive gain is often monotonically increasing with respect to the persistent disturbance, which results in aggressive control input with severe chattering that is often giving rise to system instability. In order to solve this problem, this article proposes a BFASM controller with explicit consideration of actuator saturation and uncertainties. The proposed method contains a reaching control input that can adapt to the time-varying disturbances. In addition, the proposed method does not require the upper bound information of disturbance that is commonly requested in conventional sliding mode control and thus removes the conservative assumption on a sufficiently large control gain. Stability analysis proves that the tracking error under the proposed control can asymptotically converge into a prespecified region in the presence of actuator saturation, parameter uncertainties, and external disturbances. The proposed method is also applied to an air-floating positioning system with input saturation, and experimental results demonstrate its efficacy.
WOS关键词DYNAMIC SURFACE CONTROL ; ATTITUDE TRACKING CONTROL ; OUTPUT-FEEDBACK CONTROL ; NONLINEAR-SYSTEMS ; ROBUST ; STABILITY ; FAULT
资助项目National Natural Science Foundation of China[62003186] ; Natural Science Foundation of Guangdong Province[2020A1515010334] ; basic research of Shenzhen[JCYJ2018030617432176]
WOS研究方向Automation & Control Systems ; Engineering
语种英语
WOS记录号WOS:000767813500001
出版者IEEE-INST ELECTRICAL ELECTRONICS ENGINEERS INC
资助机构National Natural Science Foundation of China ; Natural Science Foundation of Guangdong Province ; basic research of Shenzhen
源URL[http://ir.ia.ac.cn/handle/173211/47993]  
专题模式识别国家重点实验室_自然语言处理
通讯作者Shao, Ke; Liang, Bin
作者单位1.Tsinghua Univ Shenzhen, Res Inst, Shenzhen 518057, Peoples R China
2.Chinese Acad Sci, Inst Automat, Natl Lab Pattern Recognit, Beijing 100190, Peoples R China
3.Swinburne Univ Technol, Sch Sci Comp & Engn Technol, Hawthorn, Vic 3122, Australia
4.Tsinghua Univ, Tsinghua Shenzhen Int Grad Sch, Shenzhen 518055, Peoples R China
推荐引用方式
GB/T 7714		 Shao, Ke,Zheng, Jinchuan,Tang, Rongchuan,et al. Barrier Function Based Adaptive Sliding Mode Control for Uncertain Systems With Input Saturation[J]. IEEE-ASME TRANSACTIONS ON MECHATRONICS,2022:11.
APA Shao, Ke,Zheng, Jinchuan,Tang, Rongchuan,Li, Xiu,Man, Zhihong,&Liang, Bin.(2022).Barrier Function Based Adaptive Sliding Mode Control for Uncertain Systems With Input Saturation.IEEE-ASME TRANSACTIONS ON MECHATRONICS,11.
MLA Shao, Ke,et al."Barrier Function Based Adaptive Sliding Mode Control for Uncertain Systems With Input Saturation".IEEE-ASME TRANSACTIONS ON MECHATRONICS (2022):11.

入库方式： OAI收割

来源：自动化研究所

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