摘要
针对一类控制方向未知的非严格反馈非线性系统,提出一种新的全状态约束事件触发渐近跟踪控制策略.该策略基于非线性映射与系统转换方法,在全状态约束控制中去掉了对系统初始状态的依赖,同时设计了一个新的性能约束函数使系统跟踪误差在有限时间内收敛到平衡点附近的邻域内.为了避免控制输入初始值过大,文章考虑零初始控制输入的控制方式,设计一种新的输入调节函数,并将其引入事件触发机制,确保系统事件触发控制输入具有零初始值.所设计的控制器保证了系统的全状态约束性能和渐近跟踪性能,使所有的转换误差渐近收敛到0.机械臂系统的仿真研究验证了所提方法的有效性和优越性.
A new full-state constraint event-triggered asymptotic tracking control strategy is proposed for a class of non-strict feedback nonlinear systems with unknown control direction.The strategy removes the dependence on the initial states of the system in the full-state constraint control based on a nonlinear mapping and a conversion method of system.Meanwhile,a new performance constraint function is designed so that the tracking error of the system converges into the neighborhood near the equilibrium point within a finite time.To avoid an overlarge initial value of the control input,the control mode with zero initial control input is considered in this paper.A new input adjustment function is designed,which is introduced into the event triggering mechanism to ensure that the event-triggered control input of the system has a zero initial value.The designed controller guarantees the full-state constraint performance and the asymptotic tracking performance of the system,and it can let the transform errors asymptotically converge to zero.The effectiveness and the superiority of the proposed scheme are verified by the simulation studies for a manipulator system.
作者
刘辉
李小华
丁磊
LIU Hui;LI Xiaohua;DING Lei(School of Electrons and Information Engineering,University of Science and Technology Liaoning,Anshan 114051)
出处
《系统科学与数学》
北大核心
2025年第6期1701-1719,共19页
Journal of Systems Science and Mathematical Sciences
基金
吉林大学汽车仿真与控制国家重点实验室开放基金项目(20210219)资助课题。
关键词
非线性系统
控制方向未知
全状态约束
零初始控制输入
渐近跟踪
Nonlinear systems
unknown control direction
full-state constraint
zero initial control input
asymptotic tracking.
