输入时滞非线性系统的新型动态面Funnel控制  

Novel dynamic surface Funnel control for nonlinear systems with input delay

作　　者：王清华 刘烨 张桂林 李洪芹[1] 刘海珊[1] WANG Qing-hua;LIU Ye;ZHANG Gui-lin;LI Hong-qin;LIU Hai-shan(School of Electronic and Electrical Engineering,Shanghai University of Engineering Science,Shanghai 201620,China;College of Electrical Engineering and Automation,Shandong University of Science and Technology,Qingdao Shandong 266590,China)

机构地区：[1]上海工程技术大学电子电气工程学院,上海201620 [2]山东科技大学电气与自动化工程学院,山东青岛266590

出　　处：《控制理论与应用》2022年第8期1426-1432,共7页Control Theory & Applications

基　　金：国家自然科学基金项目(61703269);科技创新2030-“新一代人工智能”重大项目(2020AAA0109305)资助.

摘　　要：本文针对一类带有输入时滞的不确定非线性系统,提出了新型动态面Funnel控制方案.首先设计补偿动态变量将输入时滞系统转换成无时滞的系统,仅需在递归控制的最后一步补偿,从而优化了控制器设计过程.其次,构造Funnel函数,使系统的瞬态和稳态跟踪误差被限制在给定边界内.最后,提出新型非线性动态面控制方法,不仅避免了自适应反推控制中的“微分爆炸”问题,而且消除了边界层误差,使得系统的跟踪误差最终渐近收敛到零.理论分析表明该闭环系统的所有信号一致最终有界,仿真结果验证了该控制方案的有效性.This paper proposes a novel dynamic surface Funnel control scheme for a class of uncertain nonlinear systems with input delay.Firstly,a compensation dynamic variables is designed to convert the input delay system into a system without delay,and this compensation is required in the last step of recursion control,which optimizes the controller design.Secondly,a Funnel function is constructed such that the transient and steady-state tracking errors are limited within the given boundary.Finally,a novel nonlinear filter dynamic surface control is proposed,which avoids the“explosion of complexity”problem in adaptive backstepping control,eliminates the boundary layer error,and makes the tracking error of the system asymptotically converge to zero.Theoretical analysis shows that all signals of the closed-loop system are uniformly ultimately bounded,and the simulation results verify the effectiveness of the control scheme.

关 键 词：自适应控制 动态面控制 输入时滞 神经网络 FUNNEL 

分 类 号：TP13[自动化与计算机技术—控制理论与控制工程]