受限指令预设性能自适应反演控制器设计  

Prescribed performance adaptive backstepping controller design based on constrained command filtered

作　　者：张杨[1] 胡云安[2] 

机构地区：[1]海军航空工程学院青岛校区,山东青岛266041 [2]海军航空工程学院控制工程系,山东烟台264001

出　　处：《控制与决策》2017年第7期1253-1258,共6页Control and Decision

基　　金：国家自然科学基金项目(60674090);中国博士后科学基金项目(2015M572693)

摘　　要：针对一类含参数不确定性的输入和状态受限的非线性系统,提出一种受限指令预设性能自适应反演控制器设计方法.采用自适应反演方法,同时考虑输入和状态受限构建受限指令滤波器,以解决"计算膨胀"的问题;引入伪控制减缓方法对误差进行补偿;最后考虑了补偿跟踪误差的瞬态性能.通过Lyapunov理论对所设计的控制器进行稳定性分析,并通过仿真实例验证了所提出方法的正确性和有效性.For a class of nonlinear uncertain systems with input constraints and states constraints, a prescribed performance adaptive backstepping controller based on constrained command filtered is designed. By combining the adaptive backstepping technique, the constrained command filters are adopted to accommodate the constraints on input and states to avoid the tedious analytic computations of time derivatives. The pseudo control hedging（PCH） techniques are combined with the command filter to compensate the error. The scheme achieves preselected bounds on the transient performance on the compensation tracking error. Based on the Lyapunov stability theory, the proposed controller is designed. Simulations verify the correctness and effectiveness of the proposed method.

关 键 词：非线性系统 受限指令 预设性能 自适应反演 

分 类 号：TP273[自动化与计算机技术—检测技术与自动化装置]