MIMO纯反馈受限系统无模型非线性比例反演控制  

Nonlinear proportional back-stepping controlfor un-modeled MIMO pure feedback constrained systems

作　　者：陈龙胜[1] 王琦[1] CHEN Long-sheng, WANG Qi(School of Aircraft Engineering, Nanchang Hangkong University, Nanchang 330063, Chin)

机构地区：[1]南昌航空大学飞行器工程学院,南昌330063

出　　处：《控制与决策》2018年第4期731-740,共10页Control and Decision

基　　金：国家自然科学基金项目(11462015);航空科学基金项目(2015ZC560007);江西省教育厅科学技术研究基金项目(GJJ150707)

摘　　要：针对模型未知的MIMO纯反馈系统,提出一种新的控制设计方案.该方案基于预设性能控制思想设计非线性比例控制器,并将其引入反演设计的每一步,以构建非线性比例反演控制器,并融合考虑了模型未知、状态受限、输入受限以及预设性能的需求,且无需引入任何逼近理论和自适应控制等技术即可保证系统具有良好的抗扰性和鲁棒自适应性,控制器结构极为简单.最后,基于Lyapunov稳定性定理证明了闭环系统所有信号一致有界,仿真结果验证了所提出设计方案的可行性和有效性.A control approach is presented for model-unknow multi-input multi-output（MIMO） pure feedback systems.During every step of back-stepping, the prescribed performance control theory is adopted to construct the nonlinear proportional back-stepping controller. Based on comprehensive consideration of the the unknown model, state constraints,input saturations and prescribed performance, the proposed scheme has satisfactory anti-disturbance ability, adaption and robustness without introducing any approximation structures and adaptive control. The design procedure and structure of the proposed scheme is very simple. Finally, the stability of the close-loop system is proved based on the Lyapunov stability theorem. The simulation results show the feasibility and effectiveness of the proposed control schemes.

关 键 词：MIMO纯反馈系统 反演法 非线性比例控制 预设性能 受限控制 

分 类 号：TP273[自动化与计算机技术—检测技术与自动化装置]