Adaptive Backstepping Quantization Control Of Nonlinear Systems And Its Application

The research for nonlinear systems is of great significance due to the existence of nonlinear terms in industrial systems.Adaptive backstepping technology is one of the practical control design methods to deal with control problems of nonlinear systems.Because of the advantage of that the quantization control method can ensure a lower communication rate and enough accuracy for control systems,the study on nonlinear systems with input quantization has become one of the most important topics in control engineering,and has important practical value.Based on the research on input quantization,this paper investigates the tracking controller design problem for different closed-loop nonlinear system by applying dynamic surface technology and neural network control method.The main work of this paper is as follows:1.By studying a special class of strict-feedback nonlinear systems with input quantization,a funnel tracking control scheme is designed.Combined with the classical backstepping technique and adaptive control method,a tracking problem of the system is discussed.Finally,the simulation results show that the proposed scheme ensures that the signals of the closed-loop system are ultimately bounded and the output tracking error is preserved within the prescribed funnel performance function.2.For a class of general strict-feedback nonlinear systems with input quantization,a funnel tracking control scheme is studied by introducing a hysteresis quantizer and a prescribed funnel variable.Finally,two numerical examples show that the control scheme has good tracking performance,and all the states and signals of the closed-loop control system can be ultimately bounded.3.For a flexible manipulator model with input quantization,an adaptive dynamic surface tracking control scheme is proposed.Combined with neural network approximation technique and dynamic surface control technique,a tracking problem of the system is discussed.The simulation results and stability analysis show that the control scheme can ensures that the tracking error of the system converges to a small neighborhood near zero,and the closed-loop signals of the control system are finally uniformly bounded.