具有输入饱和非线性系统基于柔性固定时间性能的命令滤波自适应控制
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青岛理工大学

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O231.2

基金项目:

国家自然科学基金(项目编号:61703224 和 61620304)以及山东省重点研发计划(项目编号:2025TSGCZZB0789)的资助。


Flexible preset performance, command filter backstepping method, adaptive control, saturated input, nonlinear systems
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Fund Project:

National Science Foundation of China, Grant/Award Number: 61703224 and 61620304; Key Research and Development Program of Shandong Province 2025TSGCZZB0789

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    摘要:

    针对一类受外部扰动与输入饱和限制的非线性系统,提出了一种自适应神经网络跟踪控制策略。不同于现有研究多忽略输入约束与输出约束并存时的冲突问题,本文通过构造改进型固定时间预定性能函数,实现了两者的动态平衡:在系统饱和时主动放宽性能边界以规避奇异性,而在饱和消失后自动恢复预设性能。此外,利用新型有限时间指令滤波器与误差补偿机制解决了反步法中的“计算爆炸”问题。Lyapunov 稳定性分析证明,该方案能确保闭环系统所有信号及跟踪误差均在半全局一致最终有界(SGUUB)意义下收敛至可调邻域内。仿真结果验证了该策略的有效性。

    Abstract:

    This paper investigates the adaptive neural network tracking control problem for a class of nonlinear systems subject to external disturbances and input saturation. Unlike existing studies that often overlook the potential conflicts between coexisting input and output constraints, a modified fixed-time prescribed performance function is constructed to achieve a dynamic balance between the two. This mechanism actively relaxes performance boundaries to circumvent singularities during actuator saturation and restores the preset performance once saturation vanishes. Furthermore, a novel finite-time command filter, complemented by an error compensation mechanism, is introduced to resolve the "explosion of complexity" inherent in the backstepping design. Lyapunov stability analysis theoretically demonstrates that all signals in the closed-loop system are semi-globally uniformly ultimately bounded (SGUUB), with the tracking error converging to a small tunable neighborhood of the origin. Simulation results are provided to validate the effectiveness of the proposed strategy.

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历史
  • 收稿日期:2026-01-18
  • 最后修改日期:2026-07-22
  • 录用日期:2026-07-22
  • 在线发布日期: 2026-09-20
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