具有预设性能的切换系统输出反馈自适应动态面控制  

Adaptive output feedback dynamic surface control for switched systems with prescribed performance

作　　者：师路欢 张天平[1] 夏晓南[1] SHI Lu-huan;ZHANG Tian-ping;XIA Xiao-nan(Department of Automation,College of Information Engineering,Yangzhou University,Yangzhou Jiangsu 225127,China)

机构地区：[1]扬州大学信息工程学院自动化专业部,江苏扬州225127

出　　处：《控制理论与应用》2020年第4期818-828,共11页Control Theory & Applications

基　　金：国家自然科学基金项目(61573307);江苏省自然科学基金项目(BK20181218);扬州大学高端人才支持计划项目(2016)资助。

摘　　要：本文针对一类具有未建模动态和预设性能的输出反馈非线性切换系统,提出基于公共Lyapunov函数法的自适应输出反馈动态面控制方案.通过设计K滤波器和观测器估计不可测量的状态.引入动态信号处理动态不确定性.利用Nussbaum函数解决增益符号未知的问题.神经网络用于逼近由设计过程和理论分析所产生的未知连续函数.引入性能函数和误差转换器将预设性能控制问题转换为稳定性问题.通过适当选取切换子系统的初值,并利用动态面控制系统证明的特点,证明了闭环切换系统所有信号半全局一致终结有界.仿真例子验证了所提方案的有效性.In this paper,an adaptive output feedback dynamic surface control scheme is proposed based on common Lyapunov function method for a class of nonlinear switched systems with unmodeled dynamics and prescribed performance.By designing the K-filters and the observer,the unmeasured states are estimated and the dynamic uncertainties are dealt with by the designed dynamic signal.The Nussbaum function is introduced to solve the unknown control gain sign problem.Neural networks are used to approximate the unknown continuous functions produced by design process and theoretical analysis.The control issue of prescribed performance can be transformed into the stability problem by using performance function and error transformer.By appropriately choosing the initial values of all switched subsystems and using the proof characteristics of dynamic surface control,all the signals in the closed-loop switched system are proved to be semi-globally uniformly ultimately bounded.Simulation example is provided to illustrate the effectiveness of the proposed control approach.

关 键 词：未建模动态 预设性能 NUSSBAUM函数 公共李雅普诺夫函数 动态面控制 

分 类 号：TP13[自动化与计算机技术—控制理论与控制工程]