摘要
针对高阶未知严格反馈非线性系统在全状态约束条件下的有限时间渐近跟踪控制问题,基于积分障碍Lyapunov函数,提出了自适应模糊有限时间跟踪控制方法。首先,将积分障碍Lyapunov函数引入到反步控制中,使得系统的状态始终保持在约束界限内,同时采用模糊逻辑系统逼近未知的非线性函数并设计虚拟控制律、实际输入和自适应律。然后,根据有限时间稳定理论,从理论上严格证明了闭环系统所有信号的有限时间稳定,并且当时间趋于无穷时,跟踪误差可以达到零。最后,通过仿真实例验证了控制策略的有效性。结果表明,该方法在满足状态约束的同时,实现了系统的跟踪控制,并以有限时间收敛,显著提升了系统响应速度。
For the problem of finite-time asymptotic tracking control of high-order unknown strict-feedback nonlinear systems under full-state constraints,an adaptive fuzzy finite-time tracking control method is proposed based on an integral barrier Lyapunov function.Firstly,the integral barrier Lyapunov function is integrated into the backstepping control approach to ensure that the system states remain within the constraint boundaries at all times.Fuzzy logic systems are employed to approximate the unknown nonlinear functions,and virtual controllers,actual controllers,and adaptation laws are designed accordingly.Secondly,based on finite-time stability theory,it is rigorously proven that all signals of the closed-loop system are finite-time stable,and the uniformly bounded tracking error can converge to zero as time approaches infinity.Finally,the effectiveness of the control strategy is verified through simulation examples.The results demonstrate that the proposed method can achieve system tracking control while satisfying state constraints,with finite-time convergence and significant improvement in system response speed.
作者
陈新圆
刘烨
徐冬梅
CHEN Xinyuan;LIU Ye;XU Dongmei(School of Electronic and Electrical Engineering,Shanghai University of Engineering Science,Shanghai 201000,China)
出处
《电光与控制》
北大核心
2026年第1期91-97,共7页
Electronics Optics & Control
基金
国家自然科学基金(61703269)。
关键词
非线性系统
自适应模糊控制
有限时间
状态约束
渐近跟踪控制
nonlinear system
adaptive fuzzy control
finite-time
state constraint
asymptotic tracking control
