带有预设性能的高阶多输入多输出非线性系统自适应跟踪控制

王雪娆; 王庆领; 孙长银

doi:10.1631/FITEE.2000145

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带有预设性能的高阶多输入多输出非线性系统自适应跟踪控制

常规文章 | Updated：2022-06-06

- 带有预设性能的高阶多输入多输出非线性系统自适应跟踪控制
- Adaptive tracking control of high-order MIMO nonlinear systems with prescribed performance
- 信息与电子工程前沿（英文） 2021年22卷第7期页码：986-1001
- Affiliations：
  
  School of Automation, Southeast University, Nanjing 210096, China
  Key Laboratory of Measurement and Control of Complex Systems of Engineering, Ministry of Education, Southeast University, Nanjing 210096, China
- Author bio：
  
  [ "Xuerao WANG, E-mail: wangxuerao@seu.edu.cn" ]
  [ "Qingling WANG, E-mail: qlwang@seu.edu.cn" ]
  Changyin SUN, E-mail: cysun@seu.edu.cn
- Funds：
  
  Project supported by the National Key R & D Program of China (No. 2018AAA0101400), the National Natural Science Foundation of China (Nos. 61921004 and 61973074), and the Natural Science Foundation of Jiangsu Province, China (No. BK20202006)
- DOI：10.1631/FITEE.2000145
  中图分类号： TP273
- 收稿：2020-04-03，
  
  修回：2021-;6-;8，
  
  纸质出版：2021-07
- Accepted：
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王雪娆, 王庆领, 孙长银. 带有预设性能的高阶多输入多输出非线性系统自适应跟踪控制[J]. 信息与电子工程前沿（英文）, 2021,22(7):986-1001.

Xuerao WANG, Qingling WANG, Changyin SUN. Adaptive tracking control of high-order MIMO nonlinear systems with prescribed performance[J]. Frontiers of Information Technology & Electronic Engineering, 2021, 22(7): 986-1001.
王雪娆, 王庆领, 孙长银. 带有预设性能的高阶多输入多输出非线性系统自适应跟踪控制[J]. 信息与电子工程前沿（英文）, 2021,22(7):986-1001. DOI： 10.1631/FITEE.2000145.

Xuerao WANG, Qingling WANG, Changyin SUN. Adaptive tracking control of high-order MIMO nonlinear systems with prescribed performance[J]. Frontiers of Information Technology & Electronic Engineering, 2021, 22(7): 986-1001. DOI： 10.1631/FITEE.2000145.

摘要

本文针对一类不确定多输入多输出非线性系统提出一种基于观测器的自适应预设性能跟踪控制策略，同时考虑了系统中可能存在的不确定性。为估计被控系统中的不确定性以及外部扰动，本文构建了一类新颖的有限时间神经网络干扰观测器。此外，为保证系统可以达到预设性能，采用一类误差转换方法，可以将时变约束转换为一种等价的非时变约束。随后，基于障碍李雅普诺夫函数以及反步方法，提出一种基于观测器的跟踪控制策略。经证明，本文所设计的控制方法可以使闭环系统所有信号实现有界，跟踪误差满足预设的时变性能指标。最后，无人机系统数值仿真结果验证了所提控制策略的有效性。

Abstract

In this paper

an observer-based adaptive prescribed performance tracking control scheme is developed for a class of uncertain multi-input multi-output nonlinear systems with or without input saturation. A novel finite-time neural network disturbance observer is constructed to estimate the system uncertainties and external disturbances. To guarantee the prescribed performance

an error transformation is applied to transfer the time-varying constraints into a constant constraint. Then

by employing a barrier Lyapunov function and the backstepping technique

an observer-based tracking control strategy is presented. It is proven that using the proposed algorithm

all the closedloop signals are bounded

and the tracking errors satisfy the predefined time-varying performance requirements. Finally

simulation results on a quadrotor system are given to illustrate the effectiveness of the proposed control scheme.

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Keywords

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