基于双层约束结构的不确定系统低复杂度预设时间跟踪控制  

Dual-layer constraint structure-based low-complexity pre-set time tracking control for uncertain systems

作　　者：韩冲冲 刘棕成[1] 李秋妮 陈勇[1] 建佳龙 孙亚楠 HAN Chong-chong;LIU Zong-cheng;LI Qiu-ni;CHEN Yong;JIAN Jia-long;SUN Ya-nan(Aviation Engineering School,Air Force Engineering University,Xi’an 710038,China;Unit 93682 of the PLA,Beijing 101300,China)

机构地区：[1]空军工程大学航空工程学院,西安710038 [2]中国人民解放军93682部队,北京101300

出　　处：《控制与决策》2025年第3期1050-1056,共7页Control and Decision

基　　金：国家自然科学基金项目(62106284);陕西省自然科学基础研究计划项目(2023-JC-YB-522).

摘　　要：针对具有全状态非对称时变约束的不确定严反馈系统控制问题,提出一种具有双层约束结构的低复杂度预设时间跟踪控制方法.首先,采用约束转换函数直接对系统状态施加约束条件,将状态约束问题转换为无约束状态的调节问题,消除可行性条件;其次,结合预设时间性能函数,提出一种新的坐标变换方法,对变换后的状态和跟踪误差进行重构,从而完成双层约束结构,内层约束用以处理系统约束状态,外层约束用以设计虚拟控制和实际控制信号,有效解决当系统状态接近约束边界时产生的奇异性问题;最后,通过仿真实验验证所提出方案的有效性.To address the issue of uncertain strict-feedback systems with full state asymmetric and time-varying constraints,a low-complexity pre-set time tracking scheme based on dual-layer constraint structure is first presented.Firstly,the constraint transformation function is constructed to implement constraints on states of the system directly,which transforms state constraints problem into the new states bounded problem,removing the feasibility conditions.Then,combining with a pre-set time performance function,a new coordinate transformation is introduced to construct the states and tracking errors,thereby the dual-layer constrain structure is completed,in which the inner boundaries are used to deal with the constrained states,and the virtual control and actual control signals are designed through the outer boundaries.Therefore the potential singularity problem caused by the states approaching constraint boundaries is solved.Finally,the simulation results verify the effectiveness of the proposed scheme.

关 键 词：低复杂度控制 双层约束结构 状态转换函数 全状态约束 非线性系统 预设时间跟踪控制 

分 类 号：TP273[自动化与计算机技术—检测技术与自动化装置]