Command-Filter-Approximator-Based Adaptive Control for Uncertain Nonlinear Systems and Its Application in PMSMs
提出一种改进的自适应控制方案，利用命令滤波技术和双曲正切函数处理不确定非线性系统中的控制增益函数和输入饱和问题，并通过数值仿真和永磁同步电机实验验证了有效性。
We develop a modified adaptive control scheme for uncertain nonlinear systems based on command-filtered backstepping in this study. Our main task is to construct the virtual stabilizing functions in the presence of the uncertain control gain functions. First, the command-filter technique is employed to predict the system performance. Next, a new adaptive control strategy is introduced to stabilize each subsystem. In the final step, the actual stabilizing function is designed by utilizing the hyperbolic tangent function. The proposed strategy overcomes the problem of the input saturation and guarantees the convergence of all the system signals. The simulation study for a numerical nonlinear system and experimental results from a PMSM control platform are presented to validate our control strategy.