基于障碍Lyapunov函数的未知控制方向非线性系统的约束鲁棒输出调节  

Constraint robust output regulation for nonlinear systems with unknown control direction based on a barrier Lyapunov function

作　　者：孙伟杰[1] 乔雨晨 彭云建[1] SUN Wei-jie;QIAO Yu-chen;PENG Yun-jian(School of Automation Science and Engineering,South China University of Technology,Guangzhou Guangdong 510640,China)

机构地区：[1]华南理工大学自动化科学与工程学院,广东广州510640

出　　处：《控制理论与应用》2023年第9期1696-1701,共6页Control Theory & Applications

摘　　要：本文研究一类不确定非线性系统的约束鲁棒输出调节问题.在具有未知控制输入方向的情况下,要求被控非线性系统的受控输出在趋近于零的同时,被限制在给定的范围内.文章结合障碍Lyapunov函数和Nussbaum增益技术,进行反馈控制器的设计.通过MATLAB仿真验证了控制算法的合理性.同时,与基于二次型Lyapunov函数设计的仿真结果进行对比,表明了控制算法的有效性.We investigate the constraint robust output regulation problem for uncertain nonlinear systems.It is assumed that the control direction is unknown,and furthermore,the controlled output is required to be confined in some given region when it approaches zero.Based on the general output regulation framework,a feedback controller is designed by combining the barrier Lyapunov function and Nussbaum-type techniques.Simulation shows the effectiveness of the control scheme and indicates the superiority of barrier Lyapunov function design.

关 键 词：输出调节 LYAPUNOV函数 输出受限 控制方向未知 内模原理 

分 类 号：TP13[自动化与计算机技术—控制理论与控制工程]