基于预设性能的非仿射非线性系统自适应有限时间控制  

Adaptive finite-time tracking control for nonaffine nonlinear systems based on prescribed performance

作　　者：陈明[1] 李小华[1] CHEN Ming;LI Xiao-hua(School of Electronic and Inforamtion Engineering,Uniersity of Science and Technology Liaoning,Anshan 114051,China)

机构地区：[1]辽宁科技大学电子与信息工程学院,辽宁鞍山114051

出　　处：《控制与决策》2020年第5期1259-1264,共6页Control and Decision

基　　金：国家自然科学基金项目(61403177);辽宁省自然科学基金项目(20180550319)。

摘　　要：针对一类具有死区的非仿射非线性系统,将预设性能控制与有限时间控制相结合,提出一种具有预设性能的自适应有限时间跟踪控制方法.基于Backstepping技术、模糊逻辑系统及有限时间Lyapunov稳定理论,给出使系统半全局实际有限时间稳定(semi-globally practically finite-time stable,SGPFS)的充分条件和设计步骤.该控制策略不仅使系统的输出误差在有限时间内收敛到一个预先设定区域,同时保证其收敛速度、最大超调量和稳态误差均满足预先设定的性能要求.最后通过仿真示例验证了所提出设计方法的有效性.By combining prescribed performance and finite-time control,an adaptive finite-time tracking control method is proposed for a class of nonaffine nonlinear systems with dead zones.Based on the Backstepping technology,the fuzzy logic system and the finite-time Lyapunov stability theory,the sufficient conditions for the semi-global practical finite-time stable(SGFPS)and design steps are given.The control strategy can maintain that the output error converges to the predefined region in a finite time,as well as guarantee that the prescribed performance are achieved,such as the convergence speed,the maximum overshoot and the steady-error.Finally,a simulation example is given to illustrate the effectiveness of the proposed method.

关 键 词：有限时间控制 预设性能 BACKSTEPPING 非仿射非线性系统 自适应控制 跟踪控制 

分 类 号：TP273[自动化与计算机技术—检测技术与自动化装置]