Design of Composite Two-Channel Disturbance Estimation Adaptive Controller for Backlash-Like Hysteretic Nonlinear Systems

doi:10.1007/s12204-025-2827-3

Abstract

Abstract: For nonlinear systems with backlash-like hysteresis characteristics and external disturbance, a composite two-channel disturbance estimation adaptive controller is proposed to improve the trajectory tracking accuracy of the system. The unmodeled hysteresis and external disturbances are treated as lumped uncertainties, which are approximated by radial basis neural network and disturbance estimator respectively. These approximations are then linearly fused to form the compensation term for the lumped uncertainty. The second order linear filter is employed to estimate multiple differential terms, which are integrated into the controller design and dynamic system state updates, thereby reducing computational complexity. A weighted fusion mechanism is implemented for the two channels, and the adaptive update rate for each channel is determined based on the deviation between the lumped uncertainty reference value and the output of each channel. To address the challenges posed by the discontinuity of deviation and maintain system stability, the first-order low-pass filter is applied to smooth the deviation, enhancing system robustness. A trajectory tracking simulation of a single-input single-output nonlinear system is conducted to compare the performance of the proposed controller with baseline controllers, demonstrating the effectiveness of the composite two-channel disturbance estimation adaptive controller.

Key words: composite adaptive control, disturbance estimator, external disturbance, hysteretic nonlinearity, neural network

摘要： 针对具有类间隙滞回特性和外部干扰的非线性系统，提出了一种复合双通道干扰估计自适应控制器，以提高系统的轨迹跟踪精度。将未建模的滞后和外部干扰视为集总不确定性，分别用径向基神经网络和干扰估计器进行逼近。然后将这些逼近值线性融合以形成集总不确定性的补偿项。采用二阶线性滤波器估计多个微分项，并将其集成到控制器设计和系统状态更新中，从而降低了计算复杂度。对两个通道实现加权融合机制，并根据集总不确定性参考值与各通道输出的偏差确定各通道的自适应更新率。为了解决偏差不连续带来的挑战，保持系统的稳定性，采用一阶低通滤波器平滑偏差，增强系统的鲁棒性。通过对单输入单输出非线性系统的轨迹跟踪仿真，比较了提出控制器与基线控制器的性能，验证了复合双通道干扰估计自适应控制器的有效性。

关键词: 复合自适应控制，扰动估计器，外部扰动，迟滞非线性，神经网络

CLC Number:

TP13

Liu Qunpo, Li Jiakun, Fei Shumin, Bo Xuhui, Naohiko Hanajima. Design of Composite Two-Channel Disturbance Estimation Adaptive Controller for Backlash-Like Hysteretic Nonlinear Systems[J]. J Shanghai Jiaotong Univ Sci, 2026, 31(1): 106-116.

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