TY - GEN
T1 - Adaptive model reference tracking for high-order nonlinear time-varying systems with time-varying delays
T2 - 2nd Conference on Fully Actuated System Theory and Applications, CFASTA 2023
AU - Tian, Guangtai
AU - Duan, Guangren
N1 - Publisher Copyright:
© 2023 IEEE.
PY - 2023
Y1 - 2023
N2 - In this paper, the adaptive model reference tracking (AMRT) problem for a general high-order nonlinear time-varying system with time-varying delays and unknown constant parameters is investigated by applying the fully actuated system (FAS) approach. An adaptive controller is designed for the high-order nonlinear system based on the Lyapunov stability theory. With the obtained adaptive control results, an AMRT controller is proposed to ensure that the tracking error system is asymptotically stable and the unknown parameter estimation error is bounded. The established AMRT controller is composed of three parts, the basic part cancels the known nonlinearities in the system and simultaneously assigns the linear dominant term in the closed-loop system, the adaptive part overcomes the effects of unknown constant parameters, the compensator part compensates the effect of the reference model state vector and control input to the tracking error. Based on the parametric solution to the Sylvester matrix equation, a complete parametric form of the AMRT controller is given. An application to spacecraft attitude system indicates satisfactory control system performances with the proposed AMRT scheme.
AB - In this paper, the adaptive model reference tracking (AMRT) problem for a general high-order nonlinear time-varying system with time-varying delays and unknown constant parameters is investigated by applying the fully actuated system (FAS) approach. An adaptive controller is designed for the high-order nonlinear system based on the Lyapunov stability theory. With the obtained adaptive control results, an AMRT controller is proposed to ensure that the tracking error system is asymptotically stable and the unknown parameter estimation error is bounded. The established AMRT controller is composed of three parts, the basic part cancels the known nonlinearities in the system and simultaneously assigns the linear dominant term in the closed-loop system, the adaptive part overcomes the effects of unknown constant parameters, the compensator part compensates the effect of the reference model state vector and control input to the tracking error. Based on the parametric solution to the Sylvester matrix equation, a complete parametric form of the AMRT controller is given. An application to spacecraft attitude system indicates satisfactory control system performances with the proposed AMRT scheme.
KW - adaptive model reference tracking
KW - fully actuated system approach
KW - nonlinear systems
KW - time-varying delays
KW - unknown parameters
UR - https://www.scopus.com/pages/publications/85173617381
U2 - 10.1109/CFASTA57821.2023.10243171
DO - 10.1109/CFASTA57821.2023.10243171
M3 - 会议稿件
AN - SCOPUS:85173617381
T3 - Proceedings of the 2nd Conference on Fully Actuated System Theory and Applications, CFASTA 2023
SP - 24
EP - 30
BT - Proceedings of the 2nd Conference on Fully Actuated System Theory and Applications, CFASTA 2023
PB - Institute of Electrical and Electronics Engineers Inc.
Y2 - 14 July 2023 through 16 July 2023
ER -