引用本文:陈明,安思宇.基于反演算法的严格反馈非线性系统固定时间跟踪控制[J].控制与决策,2021,36(1):173-179
【打印本页】   【HTML】   【下载PDF全文】   查看/发表评论  【EndNote】   【RefMan】   【BibTex】
←前一篇|后一篇→ 过刊浏览    高级检索
本文已被:浏览次   下载 本文二维码信息
码上扫一扫!
分享到: 微信 更多
基于反演算法的严格反馈非线性系统固定时间跟踪控制
陈明,安思宇
(辽宁科技大学电子与信息工程学院,辽宁鞍山114000)
摘要:
针对一类严格反馈非线性系统,研究固定时间跟踪控制问题.基于反演控制策略及Lyapunov稳定性理论,给出使系统全局固定时间稳定的充分条件和设计步骤.所提出的反演控制方案可以消除控制器存在的奇点问题,保证系统的跟踪误差在固定时间内收敛于原点的一个小邻域内,且收敛时间与系统的初始状态无关.最后,通过一个数值仿真示例验证了所提出设计方案的有效性.
关键词:  有限时间稳定  固定时间控制  跟踪控制  反演控制  虚拟控制律  严格反馈非线性系统
DOI:10.13195/j.kzyjc.2019.0658
分类号:TP273
基金项目:国家自然科学基金项目(61403177);辽宁省自然科学基金项目(20180550319);辽宁省教 育厅项目(2019LNJC09).
Fixed-time tracking control for strict-feedback nonlinear systems based on backstepping algorithm
CHEN Ming,AN Si-yu
(School of Electronic and Information Engineering,University of Science and Technology Liaoning,Anshan 114000,China)
Abstract:
The problem of fixed-time tracking control is investigated for a class of strict-feedback nonlinear systems. Based on the backstepping control strategy and Lyapunov stability theory, the sufficient conditions and design steps for globally fixed-time stable of the system are given. The proposed backstepping control scheme eliminates the singularity problem that may occur in the controller design, and ensures that the tracking error converges to a small neighborhood of the origin within fixed-time interval, meanwhile, the convergence time is independent of the initial states of the system. Finally, the effectiveness of the proposed scheme is verified by a numerical simulation example.
Key words:  finite-time stability  fixed-time control  tracking control  backstepping control  virtual control laws  strict-feedback nonlinear systems

用微信扫一扫

用微信扫一扫