具有预设暂态性能的一类不确定非线性系统渐近状态跟踪控制  

Asymptotic state tracking control for a class of uncertain nonlinear systems with guaranteed transient performance

作　　者：陈浪雷 刘勇华 苏春翌 CHEN Lang-lei;LIU Yong-hua;SU Chun-yi(School of Automation,Guangdong University of Technology,Guangzhou Guangdong 510006,China)

机构地区：[1]广东工业大学自动化学院,广东广州510006

出　　处：《控制理论与应用》2021年第9期1421-1426,共6页Control Theory & Applications

基　　金：国家自然科学基金项目(61803097,61733006,U2013601)资助.

摘　　要：研究一类不确定非线性时变系统的预设暂态性能渐近状态跟踪控制问题.在无需系统函数先验知识的条件下,本文采用漏斗控制技术和障碍李雅普诺夫函数方法,提出了一种新颖的鲁棒自适应状态反馈控制策略.所设计的控制器不仅能够确保状态跟踪误差渐近收敛到零点,而且满足其预先设定的性能要求.仿真实例验证了所提控制策略的有效性.This paper investigates the problem of asymptotic state tracking control with guaranteed transient performance for a class of uncertain nonlinear time-varying systems.By using the funnel control approach and the concept of barrier Lyapunov function,we develop a new robust adaptive state feedback control strategy,without involving a priori knowledge of system functions.It is shown that the designed algorithm can not only guarantee asymptotic state tracking,but also transient performance.Finally,simulation studies are used to demonstrate the validity of the proposed approach.

关 键 词：非线性系统 渐近状态跟踪 鲁棒自适应控制 障碍函数 

分 类 号：TP13[自动化与计算机技术—控制理论与控制工程]