基于全状态预设性能的受限指令反演控制器设计  

Constrained command backstepping controller design under full state prescribed performance

作　　者：张杨[1] 吴文海[1] 胡云安[2] 高丽[1] 

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》2018年第3期479-485,共7页Control and Decision

基　　金：国家自然科学基金项目(60674090;51505491)

摘　　要：针对输出预设性能较多的研究现状,基于一类输入和状态受限的非线性系统,重点分析全状态预设性能,提出一种基于全状态预设性能的受限指令反演控制器设计方法.采用自适应反演方法,构建受限指令滤波器,解决"计算膨胀"的问题;为补偿输入和状态误差,引入伪控制减缓方法;最后分析全状态预设性能,对系统瞬态性能进行重点分析.采用Lyapunov理论对控制器进行稳定性分析,仿真实例表明了所提出方法的正确性和有效性.For a class of nonlinear systems under input and states constraints,this paper studies the full state prescribed performance instead of output prescribed performance, and a constrained command backstepping controller based on full state prescribed performance is designed. By combining the adaptive backstepping technique,the constrained command filters are adopted to accommodate the constraints, and 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 full state compensation tracking errors achieve preselected bounds on the transient performance. Based on the Lyapunov stability theory, the proposed controller is designed. Simulations are carried out to verify the effectiveness and correctness of the proposed approach.

关 键 词：受限指令滤波 全状态预设性能 自适应反演 非线性系统 

分 类 号：TP273[自动化与计算机技术—检测技术与自动化装置]