基于安全边界保护法的非线性系统自适应安全跟踪控制  

Adaptive safe tracking control of nonlinear systems based on a secureboundary protection method

作　　者：李小华[1] 邹嵩楠 LI Xiao-hua;ZOU Song-nan(School of Electrons 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9期3023-3032,共10页Control and Decision

基　　金：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);辽宁科技大学研究生科技创新项目(LKDYC202206)。

摘　　要：为解决因实际输出约束突变而与期望轨迹发生冲突所引起的系统跟踪的安全性问题,针对一类具有未知控制方向、未建模动态及时滞的不确定非线性系统,提出一种自适应安全跟踪控制策略.基于一种新的预设有限时间性能函数(prescribed finite-time performance function, PFTPF)提出一种安全边界保护方法 (secure boundary protection method, SBPM). SBPM可以自动构建两条自适应调整的安全边界,确保系统同时满足安全边界约束和PFTPF规定的控制性能.在该方法中提出一种双向滤波平滑机制(bidirectional filtering smoothing mechanism,BFSM),能够显著抑制控制输入的大幅抖动.To address the safe tracking problem of systems caused by the conflict between desired trajectory and sudden changes of actual output constraints,an adaptive safe tracking control strategy is proposed in this paper for a class of uncertain nonlinear systems with unknown control direction,unmodeled dynamics and time delay.A secure boundary protection method(SBPM)is proposed based on a new prescribed finite-time performance function(PFTPF).The SBPM can automatically construct two adaptively adjusted secure boundaries to ensure that the system satisfies both the secure boundary constraints and the control performance specified by PFTPF.In this method,a bidirectional filtering smoothing mechanism(BFSM)is proposed,which significantly suppresses the large jitter of the control input.

关 键 词：非线性系统 安全边界保护法 双向滤波平滑机制 输出约束 安全跟踪控制 

分 类 号：TP273[自动化与计算机技术—检测技术与自动化装置]