论文标题
带有规定输入约束的无近似规定性能控制
Approximation-free Prescribed Performance Control with Prescribed Input Constraints
论文作者
论文摘要
本文考虑了未知的非线性系统的跟踪控制问题，其时变有限的干扰受到规定的性能和输入约束。当同时指定此类问题的性能和输入约束时，不可避免的是权衡。因此，设计了处方性能和输入约束的可行性条件，以解决这种任意处方的困难。此外，提出了一个具有较低复杂性的近似控制器，如果可行性条件成立，则可以确保从未违反约束。最后，仿真结果证实了所提出的控制器的有效性。
This paper considers the tracking control problem for an unknown nonlinear system with time-varying bounded disturbance subjected to a prescribed performance and input constraints. When performance and input constraints are specified simultaneously for such a problem, a trade-off is inevitable. Consequently, a feasibility condition for prescribing performance and input constraints is devised to address such difficulties of arbitrary prescription. In addition, an approximation-free controller with low complexity is proposed, which ensures that the constraints are never violated, provided that the feasibility condition holds. Finally, simulation results corroborate the effectiveness of the proposed controller.
