随机激励下板球系统建模与有限时间全状态预设性能跟踪控制

Modeling and finite-time full state prescribed performance tracking control for ball and plate system with stochastic noise

中文关键词  板球系统  随机噪声  建模  有限时间控制  预设性能  全状态约束

英文关键词  ball and plate system  stochastic noise  modeling  finite-time control  prescribed performance  full state constraints

中文摘要

      研究板球系统受到随机激励时的数学建模与轨迹跟踪控制问题. 首次建立了板球系统的随机数学模型, 并 结合backstepping方法、有限时间预设性能函数、全状态约束及新的预设性能推导方法设计了具有未知输入饱和的 随机板球系统实际有限时间全状态预设性能跟踪控制器, 实现了随机激励下板球系统的有限时间预设性能轨迹跟 踪控制. 所设计的控制器保证了系统跟踪误差能够被预先给定的有限时间性能函数约束, 并且能在任意给定的停息 时间内收敛到预先给定的邻域内. 最后通过仿真实验验证了所设计控制器具有更好的控制效果.

英文摘要

      Modeling and trajectory tracking control problem are studied for ball and plate system with stochastic noise in this paper. A stochastic mathematical model of ball and plate system is established for the first time. A practical finitetime full state prescribed performance tracking controller is designed for the stochastic ball and plate system with unknown input saturation by combining backstepping technique, finite-time prescribed performance function, full state constraints with a new prescribed performance design method, so that finite-time prescribed performance trajectory tracking control for the ball and plate system with stochastic noise is achieved. The designed controller can guarantee that the tracking error of the system is constrained by a predefined finite-time performance function, and the tracking error can converge to a predetermined neighborhood within the arbitrarily given settling time. Finally, the simulation results show that the designed controller has a better control effect.