一类p规范型非线性系统预设性能有限时间H∞ 跟踪控制

李小华; 胡利耀

doi:10.16383/j.aas.c190116

一类p规范型非线性系统预设性能有限时间H_∞ 跟踪控制

doi: 10.16383/j.aas.c190116

李小华^1,,
胡利耀^1,

1.
辽宁科技大学电子与信息工程学院鞍山 114051

基金项目: 国家自然科学基金(61403177), 辽宁省科技厅自然科学基金(20180550319), 辽宁科技大学研究生教育改革和科技创新项目(LKDYC201812)资助

详细信息

作者简介:
李小华：辽宁科技大学电子与信息工程学院教授. 主要研究方向为复杂系统结构与控制, 非线性控制理论与应用, 工业过程建模与控制. 本文通信作者. E-mail: lixiaohua6412@163.com

胡利耀：辽宁科技大学电子与信息工程学院硕士研究生. 主要研究方向为非线性系统控制, 有限时间控制. E-mail: huliyao1995@163.com

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出版历程
- 收稿日期: 2019-02-27
- 录用日期: 2019-06-17
- 网络出版日期: 2021-09-09
- 刊出日期: 2021-12-23

Prescribed Performance Finite-time H_∞ Tracking Control for a Class of p-normal Form Nonlinear Systems

LI Xiao-Hua^1
,,
HU Li-Yao^1
,

1.
School of Electronic and Information Engineering, University of Science and Technology Liaoning, Anshan 114051

Funds: Supported by National Natural Science Foundation of China (61403177), Natural Science Fund Project of Liaoning Province (20180550319), and Graduate Education Reform and Science Technology Innovation Project of University of Science and Technology Liaoning (LKDYC201812)

More Information

Author Bio:
LI Xiao-Hua　Professor at the School of Electronic and Information Engineering, University of Science and Technology Liaoning. Her research interest covers structure and control of complex systems, nonlinear control theory and application, and industrial process modeling and control. Corresponding author of this paper

HU Li-Yao　Master student at the School of Electronic and Information Engineering, University of Science and Technology Liaoning. His research interest covers control of nonlinear system and finite-time control

摘要

摘要: 针对一类带有外部扰动的非严格反馈p规范型非线性系统, 在一种新的预设性能控制思想的基础上, 结合加幂积分技术、H_∞ 控制理论及神经自适应技术, 提出了一种自适应神经预设性能有限时间H_∞ 跟踪控制器的设计方法. 所设计的控制器能够保证系统的跟踪误差被有限时间性能函数约束, 并在任意给定的停息时间内收敛到平衡点的一个预先给定的邻域内, 且能够抑制外部扰动对系统的影响. 特别地, 该停息时间与系统初始状态无关. 两个仿真例子验证了所设计控制器的有效性和优越性.
- p规范型非线性系统 /
- 预设性能 /
- 有限时间性能函数 /
- H_∞ 跟踪控制 /
- 神经网络自适应技术
Abstract: Based on a new prescribed performance control thought, a design method of adaptive neural prescribed performance finite-time H_∞ tracking controller is proposed for a class of non-strict feedback p-normal form nonlinear systems with external disturbances by combining the adding a power integer technique, the H_∞ control theory with the neural adaptive technology. The designed controller can guarantee that the tracking error of the system is constrained by a finite-time performance function, and the tracking error can converge to a predetermined neighborhood of the equilibrium within the arbitrarily given settling time. And the impact of external disturbances on the system can be attenuated. Specially, the settling time is irrelevant to the initial states of the system. Two simulation examples show the effectiveness and advantage of the proposed method.
- p-normal form nonlinear systems /
- prescribed performance /
- finite-time performance function /
- H_∞ tracking control /
- neural network adaptive technology

HTML全文

图 1 跟踪误差$e_{1}$

Fig. 1 Tracking error $e_{1}$

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图 2 系统输出$y$跟踪效果

Fig. 2 Tracking effects of the system output $y$

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图 3 无外部扰动时状态$x_{1}$

Fig. 3 State $x_{1}$ without external disturbance

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图 5 无外部扰动时文献 [22]的控制输入$u$

Fig. 5 Control input $u$ of [22] without external disturbance

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图 4 无外部扰动时本文的控制输入$u$

Fig. 4 Control input $u$ of this paper without external disturbance

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图 6 存在外部扰动时状态$x_{1}$

Fig. 6 State $x_{1}$ with external disturbance

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图 8 存在外部扰动时文献 [22]的控制输入 $u$

Fig. 8 Control input $u$ of [22] with external disturbance

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图 7 存在外部扰动时本文的控制输入$u$

Fig. 7 Control input $u$ of this paper with external disturbance

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图 9 白噪声扰动下的状态$x_{1}$

Fig. 9 State $x_{1}$ with white noise disturbance

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图 10 外部扰动$w_1(t)$

Fig. 10 External disturbance $w_1(t)$

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