Global disturbance rejection for nonlinear lower triangular systems with iISS inverse dynamics and uncertain exosystem

Guo Meichen; Liu Lu; Feng Gary

摘要

Summary xml:id="rnc3634-para-0001">This paper concerns about the global disturbance rejection problem for uncertain nonlinear lower triangular systems with integral input‐to‐state stable (iISS) inverse dynamics and an uncertain exosystem. The main challenges addressed in this paper include uncertain exosystem, unknown control direction, iISS inverse dynamics, and complex structure of lower triangular systems. Because of the presence of both uncertain exosystem and unknown control direction, simply combining the existing techniques for each of these challenges cannot solve the proposed problem. In fact, to handle the current case, appropriate new update laws for the estimators of the uncertain parameters are required, such that the estimators can be successfully integrated with the internal model principle. Furthermore, the changing supply function technique for iISS systems is utilized to deal with the iISS inverse dynamics. With the proposed controller, the closed‐loop system is globally asymptotically stable, and the disturbance is globally rejected. Two simulation examples are finally presented to show the effectiveness of the proposed control scheme and the practical relevance of our work. Copyright ? 2016 John Wiley & Sons, Ltd. </abstract> </span> <span class="z_kbtn z_kbtnclass hoverxs" style="display: none;">展开▼</span> </div> <div class="translation abstracttxt"> <span class="zhankaihshouqi fivelineshidden" id="abstract"> <span>机译：</span><abstract xmlns =“http://www.wiley.com/namespaces/wiley”type =“main”xml：id =“rnc3634-abs-abs-0001”> <标题类型=“main”>摘要</ title> < p XML：ID =“RNC3634-段 - 0001”>本文涉及具有整体输入到状态稳定（IISS）逆动力学和不确定的外部系统的不确定非线性下三角系统的全局干扰抑制问题。本文解决的主要挑战包括不确定的外部系统，未知的控制方向，IIS逆动力学和下三角系统的复杂结构。由于存在不确定的外部系统和未知的控制方向，只需将现有技术与这些挑战中的每一个相结合，无法解决所提出的问题。事实上，为了处理当前的情况，需要适当的新更新法律的不确定参数的估算法，使得估算器可以与内部模型原理成功集成。此外，利用IISS系统的更改供电功能技术来处理IISS逆动态。利用所提出的控制器，闭环系统是全球渐近稳定的，扰动是全球拒绝的。最后提出了两个模拟实例以表明提出的控制方案的有效性和我们工作的实际相关性。版权？ 2016年John Wiley＆amp; SONS，LTD。</ p> </ abstract> </span> <span class="z_kbtn z_kbtnclass hoverxs" style="display: none;">展开▼</span> </div> </div> <div class="record"> <h2 class="all_title" id="enpatent33" >著录项</h2> <ul> <li> <span class="lefttit">来源</span> <div style="width: 86%;vertical-align: text-top;display: inline-block;"> <a href='/journal-foreign-21736/'>《International Journal of Robust and Nonlinear Control》</a> <b style="margin: 0 2px;">|</b><span>2017年第10期</span><b style="margin: 0 2px;">|</b><span>共16页</span> </div> </li> <li> <div class="author"> <span class="lefttit">作者</span> <p id="fAuthorthree" class="threelineshidden zhankaihshouqi"> <a href="/search.html?doctypes=4_5_6_1-0_4-0_1_2_3_7_9&sertext=Guo Meichen&option=202" target="_blank" rel="nofollow">Guo Meichen;</a> <a href="/search.html?doctypes=4_5_6_1-0_4-0_1_2_3_7_9&sertext=Liu Lu&option=202" target="_blank" rel="nofollow">Liu Lu;</a> <a href="/search.html?doctypes=4_5_6_1-0_4-0_1_2_3_7_9&sertext=Feng Gary&option=202" target="_blank" rel="nofollow">Feng Gary;</a> </p> <span class="z_kbtnclass z_kbtnclassall hoverxs" id="zkzz" style="display: none;">展开▼</span> </div> </li> <li> <div style="display: flex;"> <span class="lefttit">作者单位</span> <div style="position: relative;margin-left: 3px;max-width: 639px;"> <div class="threelineshidden zhankaihshouqi" id="fOrgthree"> <p>Department of Mechanical and Biomedical EngineeringCity University of Hong KongKowloon Hong Kong;</p> <p>Department of Mechanical and Biomedical EngineeringCity University of Hong KongKowloon Hong Kong;</p> <p>Department of Mechanical and Biomedical EngineeringCity University of Hong KongKowloon Hong Kong;</p> </div> <span class="z_kbtnclass z_kbtnclassall hoverxs" id="zhdw" style="display: none;">展开▼</span> </div> </div> </li> <li > <span class="lefttit">收录信息</span> <span style="width: 86%;vertical-align: text-top;display: inline-block;"></span> </li> <li> <span class="lefttit">原文格式</span> <span>PDF</span> </li> <li> <span class="lefttit">正文语种</span> <span>eng</span> </li> <li> <span class="lefttit">中图分类</span> <span><a href="https://www.zhangqiaokeyan.com/clc/7742.html" title="自动化系统">自动化系统;</a></span> </li> <li class="antistop"> <span class="lefttit">关键词</span> <p style="width: 86%;vertical-align: text-top;"> <a style="color: #3E7FEB;" href="/search.html?doctypes=4_5_6_1-0_4-0_1_2_3_7_9&sertext=disturbance rejection&option=203" rel="nofollow">disturbance rejection;</a> <a style="color: #3E7FEB;" href="/search.html?doctypes=4_5_6_1-0_4-0_1_2_3_7_9&sertext=output regulation&option=203" rel="nofollow">output regulation;</a> <a style="color: #3E7FEB;" href="/search.html?doctypes=4_5_6_1-0_4-0_1_2_3_7_9&sertext=nonlinear systems&option=203" rel="nofollow">nonlinear systems;</a> </p> <div class="translation"> 机译：扰动抑制;产量调节;非线性系统; 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