基于正系统分析的不确定非线性系统性能驱动控制方法

郭宗易; 韩永麟; 郭建国; 胡冠杰

doi:10.16383/j.aas.c230752

基于正系统分析的不确定非线性系统性能驱动控制方法

doi: 10.16383/j.aas.c230752 cstr: 32138.14.j.aas.c230752

1.
西北工业大学精确制导与控制研究所西安 710072

基金项目: 国家自然科学基金(52272404, 92271109), 中央高校基本科研业务费, 西北工业大学硕士研究生实践创新基金(PF2024042)资助

详细信息

作者简介:
郭宗易：西北工业大学精确制导与控制研究所副研究员. 2017年获得西北工业大学博士学位. 主要研究方向为鲁棒控制, 耦合控制和智能控制及其飞行器应用. E-mail: guozongyi@nwpu.edu.cn

韩永麟：西北工业大学精确制导与控制研究所硕士研究生. 2022年获得长安大学学士学位. 主要研究方向为飞行器制导控制和预设性能控制. E-mail: hanyonglin@mail.nwpu.edu.cn

郭建国：西北工业大学精确制导与控制研究所教授. 2005年获得西北工业大学博士学位. 主要研究方向为飞行器制导控制技术. 本文通信作者. E-mail: guojianguo@nwpu.edu.cn

胡冠杰：2024年获得西北工业大学博士学位. 主要研究方向为飞行器制导控制技术. E-mail: huguanjie1996@mail.nwpu.edu.cn

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出版历程
- 收稿日期: 2023-12-18
- 录用日期: 2024-06-28
- 网络出版日期: 2024-07-22

Performance-driven Control Approach for Uncertain Nonlinear Systems Based on Positive System Analysis

1.
Institute of Precision Guidance and Control, Northwestern Polytechnical University, Xi＇an 710072

Funds: Supported by National Natural Science Foundation of China (52272404, 92271109), Fundamental Research Funds for the Central Universities, and Practice and Innovation Funds for Graduate Students of Northwestern Polytechnical University (PF2024042)

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Author Bio:
GUO Zong-Yi　Associate researcher at the Institute of Precision Guidance and Control, Northwestern Polytechnical University. He received his Ph.D. degree from Northwestern Polytechnical University in 2017. His research interest covers robust control, coupling control, and intelligent control with their applications to flight vehicles

HAN Yong-Lin　Master student at the Institute of Precision Guidance and Control, Northwestern Polytechnical University. He received his bachelor degree from Chang＇an University in 2022. His research interest covers guidance and control for flight vehicles and prescribed performance control

GUO Jian-Guo　Professor at the Institute of Precision Guidance and Control, Northwestern Polytechnical University. He received his Ph.D. degree from Northwestern Polytechnical University in 2005. His research interest covers guidance and control techniques for flight vehicles. Corresponding author of this paper

HU Guan-Jie　Received his Ph.D. degree from Northwestern Polytechnical University in 2024. His research interest covers guidance and control techniques for flight vehicles

摘要

摘要: 针对一类不确定非线性系统, 提出一种保证系统状态满足预设边界性能函数的新型性能驱动控制(Performance-driven control, PDC)方法. 不同于传统预设性能控制(Prescribed performance control, PPC) 方法中对误差与边界性能函数的比值进行非线性变换的思路, 本文基于保证状态量与上下边界的两个误差量均始终非负这一思想, 引入基于Metzler矩阵的正系统分析理论, 并结合切换控制技术, 以最终保证系统状态始终在预设性能函数之内. 系统的稳定性取决于边界性能函数的选取, 而不改变控制器的形式. 给出针对一类不确定非线性系统的控制设计、稳定性分析和方法讨论, 数值仿真例子验证了所提出方法的有效性.
- 不确定非线性系统 /
- 预设性能 /
- 性能驱动控制 /
- 稳定性 /
- Metzler矩阵
Abstract: A performance-driven control (PDC) approach with guaranteeing prescribed performance for a class of uncertain nonlinear systems is proposed. Different from the idea of nonlinear transformation of the ratio of the error to the boundary performance function in the traditional prescribed performance control (PPC) method, the paper introduces the theory of positive system analysis based on Metzler matrix and combines it with the switching control technique based on the idea of guaranteeing that the state quantities and the upper and lower boundaries are always nonnegative to ensure that the system state is always within the preset performance function. Consequently, the stability of the closed-loop system depends on the selected performance boundary function, which results in a unified framework. The design procedure, stability analysis and discussion for a class of uncertain nonlinear systems are provided in the paper, and numerical simulations verify the effectiveness of the proposed method.
- Uncertain nonlinear systems /
- prescribed performance /
- performance-driven control (PDC) /
- stability /
- Metzler matrix

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图 1 性能驱动控制方法示意图

Fig. 1 Schematic diagram of performance-driven control

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图 2 情况1下系统响应曲线

Fig. 2 System response curves in case 1

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图 3 情况2下系统响应曲线

Fig. 3 System response curves in case 2

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图 4 情况3下系统响应曲线

Fig. 4 System response curves in case 3

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图 5 情况4下系统响应曲线

Fig. 5 System response curves in case 4

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