Adaptive constrained output regulation of electromagnetic micromirror with output constraint and unknown control direction

In the field of sensor application research, micro-electromechanical system (MEMS) LIDAR has become one of the key directions in the research of vehicle-mounted LIDAR. MEMS micromirror, as a key component of MEMS LIDAR, has a significant impact on the stability and dynamic performance of MEMS LIDAR. A class of electromagnetic micromirror system with parameter uncertainties and input saturation is investigated in this paper for output regulation in case of output constraint and unknown control direction. Specifically, this paper first introduces an extended internal model to transform the problem into a new constrained calibration problem. Subsequently, the output constraint issue is handled by incorporating the Barrier Lyapunov Function (BLF), and the unknown control problem is solved by utilizing the Nussbaum-type gain technique. On this basis, an adaptive internal model backstepping control strategy is proposed in this paper using backstepping control theory as a framework. The control method ensures the robustness of the closed-loop system in the presence of uncertainty in the direction of the control gain and achieves accurate tracking of the external reference signal under output-limited conditions. The effectiveness of the control strategy is verified by Lyapunov stability theory and performance simulations.