具有输入时滞和预设性能的非线性系统有限时间动态面控制  

Finite-time dynamic surface control for nonlinear systems with input delay and prescribed performance

作　　者：夏晓南[1] 尹治林 李春 张鑫磊 吴嵩 XIA Xiaonan;YIN Zhilin;LI Chun;ZHANG Xinlei;WU Song(College of Information Engineering,Yangzhou University,Yangzhou,Jiangsu 225127,China)

机构地区：[1]扬州大学信息工程学院,江苏扬州225127

出　　处：《江苏大学学报（自然科学版）》2024年第3期316-322,共7页Journal of Jiangsu University：Natural Science Edition

基　　金：江苏省产学研合作项目(BY2021489);扬州市科技计划项目产业前瞻技术研发项目(YZ2021022);扬州大学2022年创新创业“扬帆计划”项目(YZYF202220)。

摘　　要：针对一类具有输入时滞和动态不确定性的非严格反馈非线性系统的跟踪问题,提出一种新的基于预设性能的有限时间自适应跟踪控制方案.利用Pade逼近和辅助中间变量将有时滞系统转化为无时滞系统,采用由一阶辅助系统生成的动态信号处理未建模动态,引入双曲正切函数实现预设性能跟踪控制,并给出基于动态面控制方法的稳定性分析.在MATLAB环境中,以具有未建模动态和输入时滞的二阶非线性系统为例,对所提出的控制策略进行数值仿真.结果表明:所提出的控制方案能够避免现有有限时间控制所出现的虚拟控制求导奇异性问题,所有信号有限时间有界,跟踪误差收敛到预设的时变区间,可见控制算法切实有效.A new finite-time adaptive tracking control scheme based on prescribed performance was developed to solve the control problem of non-strict feedback systems with input delays and dynamic uncertainties.The time-delay systems were transformed into delay-free systems by Pade approximation and auxiliary intermediate variable,and the unmodeled dynamics was handled by the dynamic signal generated by the first-order auxiliary system.The prescribed performance adaptive tracking control was implemented by the hyperbolic tangent function,and the stability analysis was presented based on dynamic surface control method.Taking the second-order nonlinear system with unmodeled dynamics and input delay as example,the numerical simulation of the proposed control strategy was conducted in MATLAB environment.The results show that the proposed control scheme can avoid the singularity in the derivation of virtual control,and all signals in the closed-loop system are bounded in finite time.The tracking error can converge to prescribed time-varying region,and the control algorithm is effective.

关 键 词：非线性系统 非严格反馈系统 未建模动态 输入时滞 预设性能 自适应控制 动态面控制 有限时间稳定 

分 类 号：TP273[自动化与计算机技术—检测技术与自动化装置]