基于有限时间指令滤波的非线性系统固定时间预设性能控制
Finite-time command filtered-based fixed-time prescribed performance control
李应森 1陈明 1姜海洋 1苏亚坤 2彭开香3
作者信息
- 1. 辽宁科技大学电子与信息工程学院,辽宁鞍山 114044
- 2. 渤海大学数学科学学院,辽宁锦州 121013
- 3. 北京科技大学自动化学院,北京 100083
- 折叠
摘要
针对一类严格反馈非线性系统,提出一种基于有限时间指令滤波的自适应固定时间预设性能控制策略.首先,引用非线性映射技术及适当的误差变换,建立等效的误差模型;其次,综合利用反步法、固定时间控制和自适应控制等方法,设计一种基于有限时间指令滤波的预设性能跟踪控制器.该策略应用指令滤波器解决了反步法中对虚拟控制律反复求导问题,减轻了计算负担.此外,预设性能控制和固定时间控制保证了系统的跟踪误差能够在固定时间内收敛到预设性能函数限定的范围内,其收敛时间与系统初始条件无关,且确保系统中全部信号在有限时间均达到有界区域.理论分析与仿真验证均表明了所提出设计方法的有效性.
Abstract
For a class of strict-feedback nonlinear systems,an adaptive fixed-time prescribed performance control strategy is proposed based on finite-time command filtering.Firstly,we establish an equivalent error model by using nonlinear mapping technique and appropriate error transformation.Secondly,a finite-time command-filtered based prescribed performance tracking controller is constructed through comprehensive utilization of the backstepping scheme,fixed-time control and adaptive control and so on.In the strategy,a command filter is used to solve the problem of repeated derivation of virtual control laws in the backstepping method and reduce the computational burden.In addition,prescribed performance control and fixed-time control ensure that the tracking error of the system can converge to the range limited by the prescribed performance functions in fixed time,and the convergence time is independent of the initial conditions.And all the signals in the system are guaranteed to reach the bounded region in finite time.Finally,theoretical analysis and simulation results show the effectiveness of the proposed method.
关键词
有限时间指令滤波/固定时间控制/预设性能/跟踪控制/反步法Key words
finite-time command filter/fixed-time control/prescribed performance control/tracking control/backstepping引用本文复制引用
基金项目
国家自然科学基金(U21A20483)
国家自然科学基金(61873024)
国家自然科学基金(61773072)
出版年
2024
NETL
NSTL
万方数据