摘要
针对具有输入约束及参数不确定性问题的汽车半主动悬架系统,提出一种考虑输入饱和的非线性自适应Backstepping控制器.该方法引入一个辅助系统,通过设计新的误差变量,实现对控制饱和的补偿,解决控制输入的幅值约束问题.同时,考虑到悬架系统的参数不确定性问题,采用映射自适应算法设计自适应律,通过构造适当的Lyapunov函数,保证悬架系统的稳定性.仿真结果表明,所设计的控制器具有良好的隔振性能,而且能够有效降低输入约束和不确定参数对系统性能的影响.
A controller design method based on nonlinear adaptive Backstepping is proposed for the vehicle semiactive suspension system containing parameter uncertainties and input saturation problem. This method realizes the compensation of the control saturation by introducing an auxiliary system and designing a new error variable, which solves the problem of amplitude constraint of the control input. Considering the parameter uncertainty of the suspension system, a control law is designed using a projection adaptive algorithm, and the stability of the suspension system is ensured by constructing the appropriate Lyapunov function. The simulation results show that the controller has good vibration isolation performance and can effectively reduce the influence of input constraint and uncertain parameters.
作者
孙丽颖
王新
白锐
SUN Li-ying;WANG Xin;BAI Rui(College of Electrical Engineering,Liaoning University of Technology,Jinzhou 121001,China)
出处
《控制与决策》
EI
CSCD
北大核心
2018年第11期2099-2103,共5页
Control and Decision
基金
国家自然科学基金项目(61773189)
辽宁省教育厅重大科技平台项目(JP2016012)
作者简介
孙丽颖（1972-），女，教授，博士，从事电力系统非线性控制、鲁棒控制等研究；通讯作者．E—mail：lgsunliying@163．com;王新（1991-），男，硕士生，从事非线性及复杂系统控制的研究．
