摘要
A prescribed performance adaptive control(PPAC)is proposed for Hammerstein system where nonlinearity is described by backlash-like hysteresis.In order to simplify the controller design as well as guarantee the precision of the controlled system,the tracking error is transformed into performance error by two steps.The first step is to transform the tracking error into scalar error,but it magnifies the tracking error decreasing the accuracy of the controlled system.Therefore,a new S(z)is proposed for prescribed performance function(PPF)and the second step is transforming the scalar error into performance error by the proposed PPF,which guarantees the scalar error converges to a prescribed bound to improve the control accuracy.Finally,Lambert W function is introduced for the Lyapunov function candidate to guarantee the closed-loop system bounded and the tracking error converged.Simulations demonstrate the effectiveness of the proposed approaches.
A prescribed performance adaptive control(PPAC) is proposed for Hammerstein system where nonlinearity is described by backlash-like hysteresis. In order to simplify the controller design as well as guarantee the precision of the controlled system, the tracking error is transformed into performance error by two steps. The first step is to transform the tracking error into scalar error,but it magnifies the tracking error decreasing the accuracy of the controlled system. Therefore, a new S(z) is proposed for prescribed performance function(PPF) and the second step is transforming the scalar error into performance error by the proposed PPF, which guarantees the scalar error converges to a prescribed bound to improve the control accuracy. Finally, Lambert W function is introduced for the Lyapunov function candidate to guarantee the closed-loop system bounded and the tracking error converged. Simulations demonstrate the effectiveness of the proposed approaches.
基金
supported by Shandong Natural Science Foundation of China under Grant No.ZR2017MF048
the National Natural Science Foundation of China under Grant No.61433003
Shandong Key Research and Development Programme under Grant No.2016GGX105013
Shandong Science and Technology Program of Higher Education under Grant No.J17KA214
Scientific Research Foundation of Shandong University of Science and Technology for Recruited Talents under Grant No.2016RCJJ035
Tai’an Science and Technology Development Program under Grant No.2017GX0017
