基于事件触发策略的受扰非线性系统的预设性能跟踪控制
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1.南京理工大学自动化学院;2.曲阜师范大学自动化研究所;3.滑铁卢大学应用数学系

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TP273

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Event-triggered prescribed performance control for a class of nonlinear system subject disturbances
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1.School of Automation, Nanjing University of Science and Technology;2.Department of Applied Mathematics, University of Waterloo

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    摘要:

    研究了一类受扰非线性系统基于事件触发策略的预设性能跟踪控制问题. 引入非线性扰动观测器以获得系统中未知扰动的估计, 同时在控制设计中引入一个具有时变衰减率的预设性能函数. 借助于指令滤波和迭代设计算法, 构造了一种事件触发预设性能跟踪控制器, 它不仅保证了跟踪误差始终满足预设性能指标, 而且具备良好的扰动抑制能力. 所使用的具有时变衰减率的性能函数与传统常值衰减率的性能函数相比, 有效地避免了初始阶段控制量过大的问题. 最后, 通过数值仿真验证所提方法的有效性.

    Abstract:

    This paper investigates the problem of prescribed performance tracking control for a class of disturbed nonlinear systems based on an event-triggered strategy. A nonlinear disturbance observer is introduced to estimate unknown disturbances in the system, while a prescribed performance function with a time-varying decay rate is incorporated into the control design. By utilizing command filtering and an iterative design algorithm, an event-triggered prescribed performance tracking controller is constructed. This controller not only ensures that the tracking error consistently meets the prescribed performance criteria but also exhibits excellent disturbance rejection capabilities. Compared to traditional performance functions with constant decay rates, the performance function with a time-varying decay rate effectively prevents excessive control energy at the initial stage. Finally, the effectiveness of the proposed method is verified through a numerical simulation.

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历史
  • 收稿日期:2024-07-13
  • 最后修改日期:2024-09-30
  • 录用日期:2024-10-06
  • 在线发布日期: 2024-10-22
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