[1]孟 波,刘文慧.控制方向未知的非线性系统有限时间跟踪控制[J].南京师范大学学报(工程技术版),2021,21(03):033-41.[doi:10.3969/j.issn.1672-1292.2021.03.005]
　Meng Bo,Liu Wenhui.Finite-time Tracking Control of Nonlinear Systemswith Unknown Control Directions[J].Journal of Nanjing Normal University(Engineering and Technology),2021,21(03):033-41.[doi:10.3969/j.issn.1672-1292.2021.03.005]
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控制方向未知的非线性系统有限时间跟踪控制
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南京师范大学学报（工程技术版）[ISSN:1006-6977/CN:61-1281/TN]

卷:
21卷
期数:
2021年03期
页码:
033-41
栏目:
控制科学与工程
出版日期:
2021-09-30

文章信息/Info

Title:
Finite-time Tracking Control of Nonlinear Systemswith Unknown Control Directions
文章编号:
1672-1292(2021)03-0033-09
作者:
孟 波; 刘文慧
南京师范大学南瑞电气与自动化学院,江苏 南京 210023
Author(s):
Meng Bo; Liu Wenhui
NARI School of Electrical and Automation Engineering,Nanjing Normal University,Nanjing 210023,China
关键词:
状态观测器; 控制方向未知; 有限时间跟踪控制; 模糊逻辑系统; 死区
Keywords:
state observer; unknown control directions; finite-time tracking control; fuzzy logic systems; dead zone
分类号:
TP13
DOI:
10.3969/j.issn.1672-1292.2021.03.005
文献标志码:
A
摘要:
研究了一类具有输入死区以及控制方向未知的严格反馈非线性系统有限时间输出反馈跟踪控制问题. 首先,通过坐标变换,将所研究的控制方向未知的非线性系统转化为控制增益已知的等效系统. 然后,设计了一个模糊状态观测器来逼近不可测的状态,引入Nussbaum函数来解决控制方向未知的困难. 基于模糊状态观测器,通过反步法利用变换后的系统间接得到原系统的控制器. 此外,该控制器可以保证跟踪误差在有限时间内收敛于原点的一个小邻域,且闭环系统中的所有信号都保持有界. 最后,通过一个仿真算例验证了该控制方法的可行性和有效性.
Abstract:
This paper concentrates on the finite-time output feedback tracking control problem for a class of strict-feedback nonlinear systems with input dead zone and unknown control directions. Firstly,the nonlinear system with unknown control directions is transformed into an equivalent system with known control gain by coordinate transformation. Then,a fuzzy state observer is designed to approximate the unmeasurable state,and Nussbaum function is introduced to solve the problem of unknown control directions. Based on the fuzzy state observer,the controller of the original system is obtained indirectly by backstepping method with the use of transformed system. In addition,the controller can ensure that the tracking error converges to a small neighborhood of the origin in finite-time,and that all signals in the closed-loop system remain bounded. Finally,a simulation example is given to demonstrate the feasibility and effectiveness of the control method.

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备注/Memo

备注/Memo:
收稿日期:2020-11-27.
基金项目:国家自然科学基金青年基金项目(61803208)、江苏省自然科学基金青年基金项目(BK20180726).
通讯作者:刘文慧,博士,副教授,研究方向:非线性控制、智能控制. E-mail:liuwenhui1211@163.com
更新日期/Last Update: 2021-09-30