具有预设性能的切换系统输出反馈自适应动态面控制

Adaptive output feedback dynamic surface control for switched systems with prescribed performance

中文关键词  未建模动态  预设性能  Nussbaum 函数  公共李雅普诺夫函数  动态面控制

英文关键词  unmodeled dynamics  prescribed performance  Nussbaum function  common Lyapunov function  dynamic surface control

中文摘要

      本文针对一类具有未建模动态和预设性能的输出反馈非线性切换系统, 提出基于公共~Lyapunov~函数法的自适应输出反馈动态面控制方案. 通过设计 K 滤波器和观测器估计不可测量的状态. 引入动态信号处理动态不确定性. 利用 Nussbaum 函数解决增益符号未知的问题. 神经网络用于逼近由设计过程和理论分析所产生的未知连续函数. 引入性能函数和误差转换器将预设性能控制问题转换为稳定性问题. 通过适当选取切换子系统的初值, 并利用动态面控制系统证明的特点, 证明了闭环切换系统所有信号半全局一致终结有界. 仿真例子验证了所提方案的有效性.

英文摘要

      In this paper, an adaptive output feedback dynamic surface control scheme is proposed based on common Lyapunov function method for a class of nonlinear switched systems with unmodeled dynamics and prescribed performance. By designing the K-filters and the observer, the unmeasured states are estimated and the dynamic uncertainties are dealt with by the designed dynamic signal. The Nussbaum function is introduced to solve the unknown control gain sign problem. Neural networks are used to approximate the unknown continuous functions produced by design process and theoretical analysis. The control issue of prescribed performance can be transformed into the stability problem by using performance function and error transformer. Ｂy appropriately choosing the initial values of all switched subsystems and using the proof characteristics of dynamic surface control, all the signals in the closed-loop switched system are proved to be semi-globally uniformly ultimately bounded. Simulation example is provided to illustrate the effectiveness of the proposed control approach.