基于预设性能的非仿射非线性系统自适应有限时间控制

针对一类具有死区的非仿射非线性系统,将预设性能控制与有限时间控制相结合,提出一种具有预设性能的自适应有限时间跟踪控制方法.基于Backstepping技术、模糊逻辑系统及有限时间Lyapunov稳定理论,给出使系统半全局实际有限时间稳定(semi-globally practically finite-time stable,SGPFS)的充分条件和设计步骤.该控制策略不仅使系统的输出误差在有限时间内收敛到一个预先设定区域,同时保证其收敛速度、最大超调量和稳态误差均满足预先设定的性能要求.最后通过仿真示例验证了所提出设计方法的有效性.

Adaptive finite-time tracking control for nonaffine nonlinear systems based on prescribed performance

By combining prescribed performance and finite-time control, an adaptive finite-time tracking control method is proposed for a class of nonaffine nonlinear systems with dead zones. Based on the Backstepping technology, the fuzzy logic system and the finite-time Lyapunov stability theory, the sufficient conditions for the semi-global practical finite-time stable(SGFPS) and design steps are given. The control strategy can maintain that the output error converges to the predefined region in a finite time, as well as guarantee that the prescribed performance are achieved, such as the convergence speed, the maximum overshoot and the steady-error. Finally, a simulation example is given to illustrate the effectiveness of the proposed method.