| 引用本文: | 王清华,刘烨,张桂林,李洪芹,刘海珊.输入时滞非线性系统的新型动态面Funnel控制[J].控制理论与应用,2022,39(8):1426~1432.[点击复制] |
| WANG Qing-hua,LIU Ye,ZHANG Gui-lin,LI Hong-qin,LIU Hai-shan.Novel dynamic surface Funnel control for nonlinear systems with input delay[J].Control Theory and Technology,2022,39(8):1426~1432.[点击复制] |
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| 输入时滞非线性系统的新型动态面Funnel控制 |
| Novel dynamic surface Funnel control for nonlinear systems with input delay |
| 摘要点击 3114 全文点击 695 投稿时间：2021-09-29 修订日期：2022-09-02 |
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| DOI编号 10.7641/CTA.2022.10924 |
| 2022,39(8):1426-1432 |
| 中文关键词 自适应控制 动态面控制 输入时滞 神经网络 Funnel |
| 英文关键词 adaptive control dynamic surface control input delay neural network Funnel |
| 基金项目 国家自然科学基金项目(61703269), 科技创新2030 –“新一代人工智能”重大项目(2020AAA0109305)资助. |
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| 中文摘要 |
| 本文针对一类带有输入时滞的不确定非线性系统, 提出了新型动态面Funnel控制方案. 首先设计补偿动态
变量将输入时滞系统转换成无时滞的系统, 仅需在递归控制的最后一步补偿, 从而优化了控制器设计过程. 其次,
构造Funnel函数, 使系统的瞬态和稳态跟踪误差被限制在给定边界内. 最后, 提出新型非线性动态面控制方法, 不仅
避免了自适应反推控制中的“微分爆炸”问题, 而且消除了边界层误差, 使得系统的跟踪误差最终渐近收敛到零. 理
论分析表明该闭环系统的所有信号一致最终有界, 仿真结果验证了该控制方案的有效性. |
| 英文摘要 |
| This paper proposes a novel dynamic surface Funnel control scheme for a class of uncertain nonlinear systems
with input delay. Firstly, a compensation dynamic variables is designed to convert the input delay system into a system
without delay, and this compensation is required in the last step of recursion control, which optimizes the controller design.
Secondly, a Funnel function is constructed such that the transient and steady-state tracking errors are limited within the
given boundary. Finally, a novel nonlinear filter dynamic surface control is proposed, which avoids the“explosion of
complexity”problem in adaptive backstepping control, eliminates the boundary layer error, and makes the tracking error
of the system asymptotically converge to zero. Theoretical analysis shows that all signals of the closed-loop system are
uniformly ultimately bounded, and the simulation results verify the effectiveness of the control scheme. |
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