未知初始跟踪条件的非线性系统预设性能有限时间有界H_(∞)控制  

Finite-time bounded-H_(∞)control with prescribed performance for nonlinear systems with unknown initial tracking conditions

作　　者：李小华[1] 包海强 刘辉 LI Xiao-hua;BAO Hai-qiang;LIU Hui(School of Electronic and Information Engineering,University of Science and Technology Liaoning,Anshan 114051,China)

机构地区：[1]辽宁科技大学电子与信息工程学院,辽宁鞍山114051

出　　处：《控制与决策》2024年第7期2215-2223,共9页Control and Decision

基　　金：国家自然科学基金联合基金项目(U21A20483);吉林大学汽车仿真与控制国家重点实验室开放基金项目(20210219)。

摘　　要：研究一类具有外部扰动的非线性系统在初始跟踪条件未知情况下的预设性能有限时间有界H_(∞)控制问题.针对预设性能控制设计,提出一个新的误差转换思想,并据此设计新的预设性能函数,解决预设性能控制依赖于系统被约束量初始条件的问题.基于所提出预设性能函数、有限时间控制理论以及有界H_(∞)的设计方法,获得系统无需初始跟踪条件的预设性能有限时间有界H_(∞)控制器,同时解决非线性系统在有界稳定情况下难以设计H_(∞)控制器的问题,保证跟踪误差以预先设定的动态性能在有限时间内收敛至平衡点附近的小邻域内,并对外部干扰有较强的鲁棒性能.The problem of prescribed performance finite-time bounded-H_(∞)tracking control is investigated for a class of nonlinear systems with unknown initial tracking conditions and external disturbances.A new error transformation idea is proposed aiming at the design of prescribed performance control.On this basis,the new prescribed performance functions are designed to solve the problem that the prescribed performance control depends on the initial condition of the constrained variable.By means of the prescribed performance functions,finite-time control theory and bounded-H_(∞)design method,a prescribed performance finite-time bounded-H_(∞)tracking controller is obtained,which is independent of the initial tracking condition.Meanwhile,the problem that it is difficult to design the H_(∞)controller for a nonlinear system with bounded stability is solved.The designed controller ensures that the tracking error converges to a small neighbourhood near the equilibrium point with prespecified dynamic performance within a finite time,and has stronger robustness to external disturbances.

关 键 词：非线性系统 未知初始条件 预设性能控制 有限时间控制 有界H_(∞)控制 自适应控制 

分 类 号：TP273[自动化与计算机技术—检测技术与自动化装置]