Asymptotic Tracking and Dynamic Regulation of MIMO Nonaffine Nonlinear System With Actuator Saturation via Multidimensional Taylor Network Controller
针对执行器饱和的多输入多输出非仿射非线性系统，提出一种多维泰勒网络控制器，实现渐近跟踪和动态调节，无需系统信息，仅需控制方向，并通过两连杆机械臂系统验证有效性。
Control input acting on the system in the form of nonlinear implicit tends to exert great impacts on the dynamic behavior of the multiple-input–multiple-output (MIMO) nonaffine nonlinear system with actuator saturation, posing a great challenge to its tracking control and dynamic regulation. Performance optimization and design simplicity are hardly taken simultaneously into account by existing controllers. For this sake, the multidimensional Taylor network (MTN) controller, which involves both transient improvement and design simplicity, is proposed here. The MTN controller, as a novel one with a fixed structure, is capable of making the proposed system asymptotically track the reference with no need of system information except for the control direction. A performance index related to the transient improvement by dynamic regulation is established. Parameters of the MTN controller are adapted for the optimization problem in line with this performance index of the arbitrary approximation by the polynomial function. The existence and the realizability of the solution to the optimization problem are demonstrated. Specific steps of the controller design are given. The effectiveness of the proposed controller is confirmed by its theoretical analysis as well as its application to a two-link manipulator system.