Abstract
At present,one typical control strategy for guaranteeing transient and steady-state performance is funnel control and prescribed performance control.The strategy features completely discarding the sys-tem nonlinearities,even if they are completely known and available.Such an intrinsic feature requires the controller to produce a larger control effect to eliminate the negative impact caused by the high nonlinear-ities,leading to a conservative controller.In this paper,we fully take advantage of known information on nonlinearities in control design,instead of completely discarding it as done in funnel control.Particularly,we leverage adaptive techniques(i.e.,high-gain dynamic compensation)to deal with unknown system nonlinear-ities.Meanwhile,we integrate the tools of output feedback,tracking control,and the performance guarantee.As such,an adaptive output-feedback scheme is developed for global tracking with spatiotemporal perfor-mance specifications:arbitrarily given tracking accuracy and accuracy-ensured time.A simulation example supports the developed approach.
基金项目
National Natural Science Foundation of China(62033007)
Taishan Scholars Climbing Program of Shandong Province()
Major Fundamental Research Program of Shandong Province(ZR2023ZD37)
NETL
NSTL
万方数据