具有输入时滞和预设性能的非线性系统有限时间动态面控制

TP273; 针对一类具有输入时滞和动态不确定性的非严格反馈非线性系统的跟踪问题,提出一种新的基于预设性能的有限时间自适应跟踪控制方案.利用Pade逼近和辅助中间变量将有时滞系统转化为无时滞系统,采用由一阶辅助系统生成的动态信号处理未建模动态,引入双曲正切函数实现预设性能跟踪控制,并给出基于动态面控制方法的稳定性分析.在MATLAB环境中,以具有未建模动态和输入时滞的二阶非线性系统为例,对所提出的控制策略进行数值仿真.结果表明:所提出的控制方案能够避免现有有限时间控制所出现的虚拟控制求导奇异性问题,所有信号有限时间有界,跟踪误差收敛到预设的时变区间,可见控制算法切实有效....

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Published in江苏大学学报（自然科学版） Vol. 45; no. 3; pp. 316 - 322
Main Authors 夏晓南, 尹治林, 李春, 张鑫磊, 吴嵩
Format Journal Article
LanguageChinese
Published 扬州大学 信息工程学院,江苏 扬州 225127 01.05.2024
Subjects
未建模动态
dynamic surface control
finite-time stability
有限时间稳定
unmodeled dynamics
adaptive control
nonlinear system
prescribed performance
自适应控制
非线性系统
non-strict feedback system
非严格反馈系统
动态面控制
输入时滞
input delay
预设性能
Online AccessGet full text
ISSN1671-7775
DOI10.3969/j.issn.1671-7775.2024.03.010

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Abstract TP273; 针对一类具有输入时滞和动态不确定性的非严格反馈非线性系统的跟踪问题,提出一种新的基于预设性能的有限时间自适应跟踪控制方案.利用Pade逼近和辅助中间变量将有时滞系统转化为无时滞系统,采用由一阶辅助系统生成的动态信号处理未建模动态,引入双曲正切函数实现预设性能跟踪控制,并给出基于动态面控制方法的稳定性分析.在MATLAB环境中,以具有未建模动态和输入时滞的二阶非线性系统为例,对所提出的控制策略进行数值仿真.结果表明:所提出的控制方案能够避免现有有限时间控制所出现的虚拟控制求导奇异性问题,所有信号有限时间有界,跟踪误差收敛到预设的时变区间,可见控制算法切实有效.
AbstractList TP273; 针对一类具有输入时滞和动态不确定性的非严格反馈非线性系统的跟踪问题,提出一种新的基于预设性能的有限时间自适应跟踪控制方案.利用Pade逼近和辅助中间变量将有时滞系统转化为无时滞系统,采用由一阶辅助系统生成的动态信号处理未建模动态,引入双曲正切函数实现预设性能跟踪控制,并给出基于动态面控制方法的稳定性分析.在MATLAB环境中,以具有未建模动态和输入时滞的二阶非线性系统为例,对所提出的控制策略进行数值仿真.结果表明:所提出的控制方案能够避免现有有限时间控制所出现的虚拟控制求导奇异性问题,所有信号有限时间有界,跟踪误差收敛到预设的时变区间,可见控制算法切实有效.
Abstract_FL A new finite-time adaptive tracking control scheme based on prescribed performance was developed to solve the control problem of non-strict feedback systems with input delays and dynamic uncertainties.The time-delay systems were transformed into delay-free systems by Pade approximation and auxiliary intermediate variable,and the unmodeled dynamics was handled by the dynamic signal generated by the first-order auxiliary system.The prescribed performance adaptive tracking control was implemented by the hyperbolic tangent function,and the stability analysis was presented based on dynamic surface control method.Taking the second-order nonlinear system with unmodeled dynamics and input delay as example,the numerical simulation of the proposed control strategy was conducted in MATLAB environment.The results show that the proposed control scheme can avoid the singularity in the derivation of virtual control,and all signals in the closed-loop system are bounded in finite time.The tracking error can converge to prescribed time-varying region,and the control algorithm is effective.
Author 夏晓南
张鑫磊
尹治林
李春
吴嵩
AuthorAffiliation 扬州大学 信息工程学院,江苏 扬州 225127
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Author_FL ZHANG Xinlei
WU Song
XIA Xiaonan
YIN Zhilin
LI Chun
Author_FL_xml – sequence: 1
  fullname: XIA Xiaonan
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  fullname: ZHANG Xinlei
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  fullname: WU Song
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  fullname: 夏晓南
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  fullname: 尹治林
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  fullname: 李春
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DocumentTitle_FL Finite-time dynamic surface control for nonlinear systems with input delay and prescribed performance
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Keywords 未建模动态
dynamic surface control
finite-time stability
有限时间稳定
unmodeled dynamics
adaptive control
nonlinear system
prescribed performance
自适应控制
非线性系统
non-strict feedback system
非严格反馈系统
动态面控制
输入时滞
input delay
预设性能
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PublicationTitle 江苏大学学报（自然科学版）
PublicationTitle_FL Journal of Jiangsu University(Natural Science Edition)
PublicationYear 2024
Publisher 扬州大学 信息工程学院,江苏 扬州 225127
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Title 具有输入时滞和预设性能的非线性系统有限时间动态面控制
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