Adaptive Lyapunov-based backstepping control for an axially moving system with input saturation

作者：Liu, Yu^*; Zhao, Zhijia; Guo, Fang

来源：IET Control Theory and Applications, 2016, 10(16): 2083-2092.

DOI：10.1049/iet-cta.2016.0417

• adaptive control
• Lyapunov methods
• control nonlinearities
• partial differential equations
• control system synthesis
• belts
• vibration control
• angular velocity control
• uncertain systems
• input saturation
• spillover instability problems
• S-curve acceleration-deceleration method
• disturbance adaptation law
• system parametric uncertainties
• adaptive law design
• Lyapunov direct method
• adaptive boundary control development
• ordinary differential equations

This study presents an adaptive boundary control to suppress the vibration of an axially moving accelerated/decelerated belt system with input saturation. The dynamic model of the belt system is represented by a non-homogeneous hyperbolic partial differential equation and two ordinary differential equations with the consideration of the high acceleration/deceleration. By utilising backstepping technique and adaptive technique, an adaptive boundary control is developed based on Lyapunov's direct method to stabilise the presented belt system. An auxiliary system is introduced to handle the effects of the input saturation, an adaptive law is designed to compensate for the system parametric uncertainties, a disturbance adaptation law is proposed to cancel out the effects of the boundary disturbance and the S-curve acceleration/deceleration method is adopted to plan the speed of the belt system. With the proposed control scheme, the system states are guaranteed to be uniformly bounded and converged to a small neighbourhood of its equilibrium position, and the spillover instability problems are also avoided. Numerical simulations are provided to illustrate the validity of the proposed control scheme.

• 出版日期2016-10-31
• 单位华南理工大学