Adaptive prescribed performance control of output constrained hybrid-powered barrel elevator with dual-model uncertainty compensation

This study concerns the position tracking control of the hybrid-powered barrel elevator (HPBE) with dual-channel model uncertainty and output constraints. To realize an outstanding control performance, a dual-extended-state-observer-based command filtered adaptive prescribed performance control (DES...

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Bibliographic Details
Published in:Journal of mechanical science and technology 2024, 38(9), , pp.5033-5048
Main Authors: Wei, Yukai, Qian, Linfang, Zou, Quan, Chen, Longmiao, Nie, Shoucheng
Format: Article
Language:English
Subjects:
Adaptive control
Constraints
Control
Control stability
Control theory
Dynamic models
Dynamical Systems
Engineering
Estimates
Industrial and Production Engineering
Liapunov functions
Mechanical Engineering
Original Article
Parameter estimation
Parameter uncertainty
State observers
Tracking control
Vibration
기계공학
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Summary:This study concerns the position tracking control of the hybrid-powered barrel elevator (HPBE) with dual-channel model uncertainty and output constraints. To realize an outstanding control performance, a dual-extended-state-observer-based command filtered adaptive prescribed performance control (DESO-CFAPPC) strategy is presented based on the dynamic model considering various nonlinearities and model uncertainties. The conjunction of the PPC and barrier Lyapunov function in the DESO-CFAPPC not only prevents violation of output constraints of the barrel, but also prevents the complex calculation caused by the logarithmic ETF in the traditional PPC. The adaptive laws are constructed to estimate uncertain parameters. The DESO further estimates the unknown velocity, mismatched and matched model uncertainties. The obtained estimates are incorporated into the control law to enhance the tracking performance. The stability and convergence of the DESO-CFAPPC are theoretically proved and comparative experimental results indicate the effectiveness of the proposed strategy.
ISSN:1738-494X
1976-3824
DOI:10.1007/s12206-024-0838-x