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

doi:10.1109/TMECH.2022.3153670

CORC > 自动化研究所 > 中国科学院自动化研究所 > 模式识别国家重点实验室 > 自然语言处理

	Barrier Function Based Adaptive Sliding Mode Control for Uncertain Systems With Input Saturation
	Shao, Ke 3; Zheng, Jinchuan 4; Tang, Rongchuan 1; Li, Xiu 3; Man, Zhihong 4; Liang, Bin 2
刊名	IEEE-ASME TRANSACTIONS ON MECHATRONICS
	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
DOI	10.1109/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.
资助项目	National Natural Science Foundation of China[62003186] ; Natural Science Foundation of Guangdong Province[2020A1515010334] ; basic research of Shenzhen[JCYJ2018030617432176]
WOS关键词	DYNAMIC SURFACE CONTROL ; ATTITUDE TRACKING CONTROL ; OUTPUT-FEEDBACK CONTROL ; NONLINEAR-SYSTEMS ; ROBUST ; STABILITY ; FAULT
WOS研究方向	Automation & Control Systems ; Engineering
语种	英语
出版者	IEEE-INST ELECTRICAL ELECTRONICS ENGINEERS INC
WOS记录号	WOS:000767813500001
资助机构	National Natural Science Foundation of China ; Natural Science Foundation of Guangdong Province ; basic research of Shenzhen
内容类型	期刊论文
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.Chinese Acad Sci, Inst Automat, Natl Lab Pattern Recognit, Beijing 100190, Peoples R China 2.Tsinghua Univ Shenzhen, Res Inst, Shenzhen 518057, Peoples R China 3.Tsinghua Univ, Tsinghua Shenzhen Int Grad Sch, Shenzhen 518055, Peoples R China 4.Swinburne Univ Technol, Sch Sci Comp & Engn Technol, Hawthorn, Vic 3122, Australia
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.