基于Nussbaum函数的板球系统输入受限控制研究  

Nussbaum-based Function Control Input Limited Control for the Ball and Plate System

作　　者：王嘉伟 韩光信[1] 陈森林 WANG Jiawei;HAN Guangxin;CHEN Senlin(School of Information and Control Engineering,Jilin Institute of Chemical Technology,Jilin City 132022,China)

机构地区：[1]吉林化工学院信息与控制工程学院,吉林吉林132022

出　　处：《吉林化工学院学报》2024年第5期42-49,共8页Journal of Jilin Institute of Chemical Technology

摘　　要：为了实现板球系统在控制输入约束下的高精度轨迹跟踪控制,在反步法(Backstepping)的基础上采用了基于Nussbaum函数的控制输入受限控制方法。首先建立带有伺服系统的板球系统一体化模型,设计带有约束条件的控制律,设计Nussbaum函数,结合反步法设计其自适应律,最后,利用Barbalat引理证明了闭环系统的稳定性。仿真结果表明,该方法在输入受限的情况下,具有一定的抗扰动能力,以及良好的轨迹跟踪控制性能。To realize the high-precision trajectory tracking control of ball and plate system under the constraint of control input,the control input limited control method based on Nussbaum function was adopted on the basis of backstepping.Firstly,the integrated model of ball and plate system with servo system was established,the control law with constraints was designed,the Nussbaum function was designed,and the adaptive law was designed by combining the backstepping method,and finally the stability of the closed-loop system was proved by Barbalat lemma.The simulation results showed that the proposed method has a certain anti-disturbance ability and good trajectory tracking control performance under the condition of limited input.

关 键 词：板球系统 NUSSBAUM函数 输入受限 反步法 

分 类 号：TP273[自动化与计算机技术—检测技术与自动化装置]