时变输出约束非完整系统的非缩放预设时间镇定控制设计(英文)

Prescribed-time stabilizing control of time-varying output constrained nonholonomic systems via non-scaling design

中文关键词  非完整系统  时变输出约束  非缩放变换  预设时间镇定

英文关键词  nonholonomic systems (NSs)  time-varying output constraints  non-scaling transformation  prescribed-time stabilization (PTS)

中文摘要

      本文针对一类具有时变输出约束链式非完整系统的预设时间镇定问题, 首先通过tan型障碍Lyapunov函数处理 系统输出约束, 然后基于所给的新型切换时变函数, 直接应用于虚拟(实际)控制器设计, 提出了系统状态反馈镇定的非 缩放变换设计方案. 本文所设计的控制器使得闭环系统状态不违反约束的同时, 可在任意给定的有限时间内收敛到零 点. 与传统的基于缩放变换设计相比, 本文所提出的控制策略既有效解决了控制器的计算奇异性问题, 又减少了关于时 变缩放函数的计算, 使控制器设计更为简单. 最后, 通过仿真结果验证了所提设方法的有效性.

英文摘要

      This paper reports the problem of prescribed-time stabilization (PTS) for a kind of uncertain nonholonomic systems (NSs) in chained form with time-varying output constraints. To handle the obstacle caused by the output constraints, a tan-type barrier lyapunov function (BLF) is exploited. By suitably introducing the time-varying function into the virtual (actual) controllers, a non-scaling transformation design scheme for state feedback is developed, which forces the states of the closed-loop system (CLS) to zero in any prescribed finite time without disobeying the constraints. In comparison with the traditional scaling transformation design, the advantages of the proposed control strategy are that it both solves the computationally singular problem effectively and leads to a simpler controller by reducing the computation burden of the time-varying scaling function. Finally, the effectiveness of the proposed scheme is confirmed by the simulation results.