论文标题

具有全球规定的时间规定的不确定反馈非线性系统的自适应模糊跟踪控制

Adaptive Fuzzy Tracking Control with Global Prescribed-Time Prescribed Performance for Uncertain Strict-Feedback Nonlinear Systems

论文作者

Mao, Bing, Wu, Xiaoqun, Liu, Hui, Xu, Yuhua, Lü, Jinhu

论文摘要

建立了自适应模糊控制策略,以实现全球规定的绩效,并通过规定的时间融合对严格反馈系统的规定时间融合,不匹配的不确定性和未知的非线性。首先,为了量化跟踪错误的瞬态和稳定的性能约束,设计了一类规定的规定性能功能,并引入了新的错误转换功能以删除初始值约束并解决现有工作中的奇异性问题。其次,基于动态的表面控制方法,建立或没有近似结构的控制器,以确保跟踪误差达到规定的瞬态性能并收敛到规定时间内的规定有限集。特别是,规定性能函数的结算时间和初始值完全独立于跟踪误差和系统参数的初始条件,从而改善了现有结果。此外,通过新颖的Lyapunov样能量功能,不仅可以解决反击技术中经常出现的差异爆炸问题,而且可以克服动态表面控制引起的跟踪误差的半全球界限的缺点。通过实际示例的数值模拟来验证主要结果的有效性和有效性。

Adaptive fuzzy control strategies are established to achieve global prescribed performance with prescribed-time convergence for strict-feedback systems with mismatched uncertainties and unknown nonlinearities. Firstly, to quantify the transient and steady performance constraints of the tracking error, a class of prescribed-time prescribed performance functions are designed, and a novel error transformation function is introduced to remove the initial value constraints and solve the singularity problem in existing works. Secondly, based on dynamic surface control methods, controllers with or without approximating structures are established to guarantee that the tracking error achieves prescribed transient performance and converges into a prescribed bounded set within prescribed time. In particular, the settling time and initial value of the prescribed performance function are completely independent of initial conditions of the tracking error and system parameters, which improves existing results. Moreover, with a novel Lyapunov-like energy function, not only the differential explosion problem frequently occurring in backstepping techniques is solved, but the drawback of the semi-global boundedness of tracking error induced by dynamic surface control can be overcome. The validity and effectiveness of the main results are verified by numerical simulations on practical examples.

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