Adaptive Tracking Control for Nonlinear Fully Actuated Systems With Input Quantization

作     者：Liu, Lin Duan, Guangren 

作者机构：Harbin Inst Technol Ctr Control Theory & Guidance Technol Harbin 150001 Peoples R China Southern Univ Sci & Technol Shenzhen Key Lab Control Theory & Intelligent Syst Shenzhen 518055 Peoples R China 

出 版 物：《IEEE TRANSACTIONS ON CIRCUITS AND SYSTEMS I-REGULAR PAPERS》 (IEEE Trans. Circuits Syst. Regul. Pap.)

年 卷 期：2024年

核心收录：

学科分类：0808[工学-电气工程] 08[工学] 

基　　金：Science Center Program of the National Natural Science Foundation of China 

主　　题：Vectors Quantization (signal) Adaptation models Adaptive control Control systems Circuits Uncertainty Control theory Robust control Hysteresis fully actuated system approach input quantization multiple-input-multiple-output nonlinear systems hysteresis quantizers 

摘      要：In this paper, we investigate the tracking issue for fully actuated systems (FASs) with parameter uncertainties and input quantization. Different from models of the existing adaptive control for FASs, the input matrix herein incorporates uncertain parameters. By utilizing the full-actuation properties, straightforward adaptive state feedback controllers can be implemented in the trajectory tracking of single-order and multi-order FASs, ensuring that the tracking error can converge to an arbitrarily small vicinity of the origin. The simulations of mass-spring-damper systems and permanent magnet synchronous motors (PMSM) validate the effectiveness of the given method.