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时延非线性系统无模型预设性能控制

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研究含有状态时延的严反馈非线性系统的跟踪控制问题,充分考虑时延的时变性和任意性以及系统的未知动力学特性.为解决该问题,取代参数辨识、函数逼近、增益调节、指令滤波等常规技术,提出基于导向函数的预设性能控制方法,移除了控制器设计对于系统非线性、控制方向和虚拟控制信号导数等信息的依赖.并且,摆脱基于李雅普诺夫-克拉索夫斯基泛函或拉祖米欣函数的稳定性分析框架,采用基于反证法的受限分析理论,移除性能分析对于已知的时延上界、部分已知的时延非线性函数和时延导数小于1等常见约束.因此,形成无模型、低复杂度、高性能控制方法,将跟踪误差限制于设计者预先选取的性能包络线内,确保系统输出以预先设定的速度和精度跟踪上时变的设定值.最后,以具有延迟回收流的两级化学反应器为对象开展对比仿真,实验结果验证了所提方法的有效性和优越性.
Model-free Prescribed Performance Control of Time-delay Nonlinear Systems
This paper is concerned with the tracking control problem for time-delay strict-feedback nonlinear sys-tems,in which the time-varying arbitrary state delays and the completely unknown system dynamics are taken in-to full consideration.To address this problem,instead of parameter identification,function approximation,gain ad-aption and command filtering,an orientation function-based prescribed performance control approach is put for-ward.It eliminates the dependence of the control design on the system nonlinearities,the control directions and the virtual control signal derivatives.Moreover,in lieu of the stability analysis based on Lyapunov-Krasovskii function-als or Razumikhin functions,a framework for constraint analysis by contradiction is adopted.It excludes the com-monly adopted assumptions on the known bounds of time-delays,the partially known time-delay nonlinearities and the time-delay derivatives less than 1.Therefore,a model-free low-complexity high-performance control scheme is obtained,which confines the tracking error inside the predefined performance envelop.In this way,it is achieved that the system output tracks the time-varying reference with the prescribed rate and accuracy.Finally,a compar-ative simulation on the two-stage chemical reactor with delayed recycle streams is conducted,and the simulation results substantiate the effectiveness and the superiority of the proposed approach.

Model-free controlprescribed performancereference trackingtime-delaynonlinear systems

张晋熙、柴天佑、王良勇

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东北大学流程工业综合自动化国家重点实验室 沈阳 110819

无模型控制 预设性能 参考跟踪 时延系统 非线性系统

国家自然科学基金国家自然科学基金国家重点研发计划辽宁省"兴辽英才计划"项目辽宁省科技计划辽宁辽河实验室项目高等学校学科创新引智计划(111计划)中央高校基本科研业务费专项

61991404621030932022YFB3305905XLYC22031302023-MS-087LLL23ZZ-05-01B08015N2108003

2024

10.16383/j.aas.c230701

自动化学报
中国自动化学会 中国科学院自动化研究所

自动化学报

CSTPCD北大核心
影响因子：1.762
ISSN：0254-4156
年,卷(期)：2024.50(5)
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