Research On Adaptive Tracking Control Of High-order Nonlinear Systems With Dead-zone Input

In the field of control,the control of high-order nonlinear systems is a hot area of concern for many researchers.The research in this direction has developed towards a diversified and interdisciplinary direction.In this paper,adaptive tracking control for two types of highorder uncertain nonlinear systems are mainly studied.The method of adding a power integrator,backstepping method,and fuzzy control are comprehensively used through this paper.The corresponding adaptive tracking controller is designed by constructing Lyapunov functions.The main content of this paper has the following two parts:(?)Adaptive tracking control for a class of high-order uncertain time-delay nonlinear systems with external disturbances and dead-inputIn this section,we study adaptive tracking control problem for a class of high-order nonlinear systems.The system contains unknown parameters,multiple time-varying delays,external disturbances,and dead-input nonlinearities.By introducing the adding a power integrator based on dynamic gain and using the constructed a new LyapunovKrasovskii functional,an adaptive controller is designed in the end.The controller ensures that all signals of the closed-loop system are bounded and the tracking error converges to the origin.Finally,the control method is applied to a single-link robot system,and the effectiveness of the proposed control scheme is verified by simulation research.(?)Adaptive tracking control for a class of higher-order nontriangular nonlinear systems with dead-inputIn this section,the control design problem for a class of high-order uncertain nonlinear systems with non-triangular structure is considered,and an adaptive tracking control design method is proposed.By constructing a new Lyapunov function,and using the met hod of fuzzy control and adding a power integrator,a new type of adaptive tracking controller is designed.The controller only introduces a parameter adaptive law,which avoids the problem of over-parameterization in the backstepping design,and simultaneously ensures that output tracking error can be arbitrarily small and all signals of the closed-loop system are bounded.The effectiveness of the proposed control scheme is verified by simulation research.