非线性时滞系统基于降阶观测器的反步镇定控制  

Reduced-order observer-based backstepping stabilization control for nonlinear time-delay systems

作　　者：李文杰 张正强 LI Wen-jie;ZHANG Zheng-qiang(School of Engineering,Qufu Normal University,Rizhao Shandong 276826,China)

机构地区：[1]曲阜师范大学工学院,山东日照276826

出　　处：《控制理论与应用》2022年第8期1433-1441,共9页Control Theory & Applications

基　　金：国家自然科学基金项目(61873330);山东省泰山学者项目,山东省中央引导地方科技发展资金项目(YDZX20203700001633);山东省自然科学基金重大基础研究项目(ZR2021ZD13)资助.

摘　　要：针对一类状态未知的非线性严格反馈时滞系统,本文提出了一种基于静态增益函数的输出反馈控制方案.首先构造了降阶观测器以估计非线性系统的未知状态.然后在Backstepping设计的每一步定义了具有控制增益函数的新型Lyapunov-Krasovskii泛函以补偿未知时变时滞,定义新的选择不唯一的连续控制增益函数以补偿非匹配项以及Lyapunov-Krasovskii泛函补偿时滞时产生的非负项.提出了一种无记忆输出反馈控制方案.理论分析表明:该控制方案消除了未知时滞的影响,保证了闭环系统所有信号的有界性,并使系统实现渐近稳定.最后仿真结果验证了此控制方案的有效性.For a class of nonlinear strict-feedback time-delay systems with unknown system states,this paper proposes an output feedback control scheme based on a novel static gain function.Firstly,a reduced-order observer is constructed to estimate the unmeasured states of the nonlinear time-delay system.Then,a new Lyapunov-Krasovskii functional with an explicit control gain expression is defined in each step of the backstepping design process to compensate for the unknown time-varying delays,novel continuous control gain functions are defined to compensate for unmatched terms and the nonnegative terms that are generated when the Lyapunov-Krasovskii function compensates for time delays.A memoryless output feedback control scheme is proposed.It shows that the control scheme eliminates the influence of unknown time delay,ensures the boundedness of all signals of the closed-loop system,and makes the system asymptotically stable.Finally,simulation results verify the effectiveness of the control scheme.

关 键 词：时滞系统 输出反馈控制 降阶观测器 静态增益函数 渐近稳定 

分 类 号：TP13[自动化与计算机技术—控制理论与控制工程]