严格反馈非线性系统有限时间模糊漏斗控制  

Finite-time Fuzzy Funnel Control for Strict-feedback Nonlinear Systems

作　　者：姜海洋 陈明[1] JIANG Hai-yang;CHEN Ming(School of Electronic and Information Engineering,University of Science and Technology Liaoning,Anshan 114044,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114044

出　　处：《控制工程》2020年第12期2137-2142,共6页Control Engineering of China

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

摘　　要：针对一类严格反馈非线性系统提出一种有限时间模糊漏斗控制新方法。首先,引入新型的漏斗约束函数,其控制目标是保证系统的跟踪误差限定在漏斗约束函数约束的范围内。其次,通过有限时间Lyapunov稳定理论及Backstepping技术,设计一类严格反馈系统的有限时间模糊漏斗控制器。理论分析表明,该控制器使得系统是半全局实际有限时间稳定的,即该控制策略不仅使得闭环系统的跟踪误差限定在预先设定的漏斗约束函数范围内,并且能保证其收敛速度及超调量满足设定要求。该策略同时兼顾了系统的稳态和瞬态性能。最后,通过一个数值仿真示例验证了设计方法的有效性。A new finite-time fuzzy funnel control method is proposed for a class of strict-feedback nonlinear systems.At first,the novel funnel constraint functions are introduced,and their control objective is to ensure that the tracking error of the system is restricted to the constraint range of the funnel constraint functions.Secondly,based on the finite-time Lyapunov stability theory and Backstepping technology,the finite-time fuzzy funnel controller for a class of strict-feedback nonlinear systems is constructed.Theoretical analysis shows that the proposed controller can make the system practically semi-global finite time stable.In other words,the controller not only ensures that the tracking error converges to the prescribed region of the funnel constraint functions,but also guarantees that the prescribed performance is achieved,such as convergence speed and overshoot.The strategy takes into account both steady state and transient performance.At last,a numerical simulation example illustrates the effectiveness of the proposed approach.

关 键 词：漏斗约束函数 有限时间控制 模糊逻辑 BACKSTEPPING 

分 类 号：TP273[自动化与计算机技术—检测技术与自动化装置]