具有预设暂态性能的一类不确定非线性系统渐近状态跟踪控制
首发时间:2020-11-04
摘要:\rm 研究一类不确定非线性时变系统的预设暂态性能渐近状态跟踪控制问题. 在无需系统模型先验知识条件下, 本文采用漏斗控制技术和障碍李雅普诺夫函数方法, 提出了一种新颖的鲁棒自适应状态反馈控制策略. 所设计的控制器不仅能够确保状态跟踪误差渐近收敛到零点, 而且满足其预先设定的性能要求. 仿真实例验证了所提控制策略的有效性.
关键词: \rm 非线性系统; 渐近状态跟踪; 鲁棒自适应控制; 障碍函数
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Asymptotic state tracking control for a class of uncertain nonlinear system with guaranteed transient performance
Abstract:This paper investigates the problem of asymptotic state tracking control with guaranteed transient performance for a class of uncertain nonlinear time-varying systems. By using the funnel control approach and the concept of barrier Lyapunov function, we develop a new robust adaptive state feedback control strategy, without involving a priori knowledge of system model. It is shown that the designed algorithm can not only guarantee asymptotic state tracking, but also transient performance. Finally, simulation studies are used to demonstrate the validity of the proposed approach.
Keywords: Nonlinear systems asymptotic state tracking robust adaptive control barrier function
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具有预设暂态性能的一类不确定非线性系统渐近状态跟踪控制
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