一类输出受限非线性系统的降维非递归预设性能控制策略

Reduced-order nonrecursive prescribed performance control strategy for nonlinear systems with output constraints

中文关键词  非递归控制  预设性能  非匹配干扰  输出受限  非线性系统

英文关键词  nonrecursive control  prescribed performance  mismatched disturbance  output constraint  nonlinear system

中文摘要

      针对一类非匹配受扰非线性系统在输出受限条件下的跟踪控制问题, 本文在预设性能控制过程中引入非递归设计框架, 提出了一种降维非递归预设性能控制方案, 以缓解常用的递归预设性能控制过程中出现的复杂性爆炸问题, 大幅简化了系统的控制器设计过程, 便于实际工程应用. 本文设计的降维非递归控制策略能够实现控制器设计过程与稳定性分析的分离, 并且具有控制器形式简洁、控制参数选取机制简单的优点. 最后, 选取具有代表性的数值仿真和永磁同步电机位置跟踪控制实验阐释了所提出的控制策略的有效性及简洁性.

英文摘要

      Aiming at the challenging tracking control problem of a class of nonlinear systems with mismatched disturbances in the case of inherent output constraints, this paper investigates a nonrecursive design framework in the process of prescribed performance control. A reduced-order nonrecursive prescribed performance control scheme is proposed to alleviate the complexity explosion problem in the process of common recursive prescribed performance control. Compared with the common recursive methods, the proposed strategy significantly simplifies the system’s controller design process, making it highly suitable for practical engineering applications. The proposed reduced-order nonrecursive control strategy not only realizes the separation of controller design process and stability analysis but also exhibits the notable advantages of a simple controller form and concise control parameter selection guidelines. Finally, a representative numerical simulation and the position tracking control experiment of permanent magnet synchronous motor (PMSM) system verify the effectiveness and simplicity of the proposed reduced-order nonrecursive control strategy.