摘要
研究了具有输入时滞、有界外部干扰以及全状态约束的严格反馈连续时间参数化非线性系统的自适应有限时间跟踪控制问题.通过使用Barrier Lyapunov函数和自适应反步法,保证了系统所有状态都被约束.针对输入时滞问题,采用pade近似法消除其带来的负面影响.所设计的有限时间控制器使闭环系统内的所有信号都有界且所有状态都被约束在给定的范围内,同时输出信号能很好地追踪给定参考信号.最后通过仿真实例验证了该控制方法的有效性.
This paper studies the problem of adaptive finite-time tracking control for strict-feedback parameterized nonlinear continuous-time systems with full state constraints,bounded external disturbances and input time delay.By utilizing Barrier Lyapunov functions and the adaptive backstepping method,all states of the system are ensured to be constrained.Then,for the problem of input delay,pade approximation method is used to eliminate the negative effect of input delay.The finitetime controller is designed such that all the signals in the closed-loop system are bounded,the output tracks the reference signal effectively and all states are ensured to remain in the predefined compact sets.Finally,the effectiveness of the proposed scheme is verified via simulation results.
作者
金璇
刘文慧
Jin Xuan;Liu Wenhui(NARI School of Electrical and Automation Engineering,Nanjing Normal University,Nanjing 210023,China)
出处
《南京师范大学学报（工程技术版）》
CAS
2021年第2期40-46,共7页
Journal of Nanjing Normal University(Engineering and Technology Edition)
基金
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)。
