饱和非线性系统自调节预设性能固定时间控制  

Adjustable prescribed performance fixed-time control for saturated nonlinear systems

作　　者：马坤成 吴中华 MA Kuncheng;WU Zhonghua(School of Electrical Engineering and Automation,Henan Polytechnic University,Jiaozuo 454003,China)

机构地区：[1]河南理工大学电气工程与自动化学院,河南焦作454003

出　　处：《兵器装备工程学报》2024年第12期271-278,共8页Journal of Ordnance Equipment Engineering

基　　金：国家自然科学基金项目(61903126);河南省科技攻关项目(232102220030);河南省高等学校重点科研项目(24A590003);河南理工大学杰出青年基金项目(J2022-7);河南理工大学博士基金项目(760807/028)。

摘　　要：针对存在执行器饱和的非线性严格反馈系统,提出一种可自主调节预设性能固定时间控制方法。为有效调和系统输入约束和性能约束之间的矛盾,设计新型固定时间辅助系统,引入非负辅助系统状态至有限时间小超调预设性能函数,得到新型可自主调节预设性能函数。为避免系统设计过程出现微分爆炸现象和奇异性问题,设计不含分数次幂项的固定时间控制器与动态面滤波器。针对系统中的未知非线性函数,利用模糊逻辑系统进行逼近,同时为减少在线参数更新计算量,采用最小参数学习方法更新模糊参数。理论分析和仿真结果表明:所提控制方法能够确保系统在执行器饱和发生时不违反性能约束,且闭环系统所有信号固定时间内一致最终有界。An adjustable prescribed performance fixed-time control method is proposed for a class of nonlinear strict feedback system with actuator saturation.In order to effectively reconcile the contradiction between the system input constraints and performance constraints,a new fixed-time auxiliary system is designed,and the non-negative auxiliary system state is introduced into a finite-time small overshoot prescribed performance function to obtain a new type of autonomously adjustable prescribed performance function.In order to avoid the differential explosion phenomenon and singularity problem in the system design process,the fixed-time controllers and dynamic surface filters without fractional power terms are devised.Aiming at the unknown nonlinear function in the system,the fuzzy logic system is utilized for approximation.At the same time,in order to reduce the computation amount of online parameter updating,the fuzzy parameters are updated by using the minimum parameter learning method.Both theoretical analysis and simulation results demonstrate that the proposed control method can ensure that the system does not violate the performance constraints when actuator saturation occurs,and that all signals of the closed-loop system are uniformly ultimately bounded within a fixed time.

关 键 词：预设性能控制 固定时间控制 辅助系统 模糊逻辑系统 动态面控制 

分 类 号：TP273[自动化与计算机技术—检测技术与自动化装置]