An adaptive output feedback controller with prescribed performance is performed for full-state-constrained DC motors with uncertainties (including parametric uncertainties and disturbances). A distinguishing feature is that when only partial states are measurable, not only parametric uncertainties and disturbances are addressed but also the quantitative analysis of control error and state constraints is realized. For this purpose, an extended-state observer is constructed to estimate disturbances and unmeasurable states, while adaptive control is employed to approximate unknown parameters. A new prescribed performance-barrier Lyapunov function is established to maintain the control error and all system states within specified boundaries. Then, taking saturation compensation into account, the proposed control algorithm is designed through the backstepping technique to ensure that all signals in the closed-loop system are bounded. Finally, several experimental results demonstrate the effectiveness of the proposed algorithm.

中文翻译：

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受不确定性和输入饱和影响的全状态约束直流电机的自适应规定性能输出反馈控制

针对具有不确定性（包括参数不确定性和扰动）的全状态约束直流电机，执行具有规定性能的自适应输出反馈控制器。一个显着特征是，当仅可测量部分状态时，不仅可以解决参数不确定性和干扰，还可以实现控制误差和状态约束的定量分析。为此，构造扩展状态观测器来估计干扰和不可测量的状态，同时采用自适应控制来逼近未知参数。建立了新的规定性能障碍李亚普诺夫函数，以将控制误差和所有系统状态保持在指定边界内。然后，考虑饱和补偿，通过反步技术设计所提出的控制算法，以确保闭环系统中的所有信号都有界。最后，几个实验结果证明了该算法的有效性。