| 引用本文: | 孔祥玲,孙海滨,侯林林.严格反馈非线性系统的全状态预设性能自适应跟踪控制[J].控制理论与应用,2026,43(3):677~683.[点击复制] |
| KONG Xiang-ling,SUN Hai-bin,HOU Lin-lin.Full state prescribed performance adaptive tracking control for strict-feedback nonlinear systems[J].Control Theory & Applications,2026,43(3):677~683.[点击复制] |
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| 严格反馈非线性系统的全状态预设性能自适应跟踪控制 |
| Full state prescribed performance adaptive tracking control for strict-feedback nonlinear systems |
| 摘要点击 520 全文点击 83 投稿时间：2023-12-22 修订日期：2025-10-14 |
| 查看全文 查看/发表评论 下载PDF阅读器 HTML |
| DOI编号 10.7641/CTA.2024.30824 |
| 2026,43(3):677-683 |
| 中文关键词 渐近跟踪控制 非对称全状态约束 预设时间性能函数 非线性系统 |
| 英文关键词 asymptotic tracking control full asymmetric state constraints prescribed time performance function non linear systems |
| 基金项目 国家自然科学基金项目(62173205,62273254,62273199), 山东省泰山学者项目,山东省自然科学基金项目(ZR2023MF049)资助. |
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| 中文摘要 |
| 本文研究了具有全状态非对称约束和不确定干扰的严格反馈非线性系统的自适应渐近跟踪控制问题.为
了约束系统状态,首先,引入了一组预设时间性能函数;其次,构建了一种非对称变换函数,将原系统的状态约束问
题转化为新变量的有界性问题,基于变换的方法,去除了虚拟控制器上的可行性条件;随后,为了避免backstep
ping方法固有的“微分爆炸”问题,在递推设计中引入了一阶滤波器;然后,结合backstepping方法提出了一种自适应
控制策略,使系统状态不违反约束边界,并在有限时间内收敛到预设边界;同时,系统输出渐近地跟踪参考信号;最
后, 应用实例验证了方法的有效性. |
| 英文摘要 |
| In this article, the problem of adaptive asymptotic tracking control is studied for strict-feedback nonlinear sys
tems with full state asymmetric constraints and uncertain disturbances. Firstly, a batch of prescribed time performance func
tions are introduced to restrain system states. Secondly, an asymmetric transformation function is constructed which makes
sure the asymmetric state constraints are not breached, then the state constraints problem is transformed into analysing
the boundary of the new variables. By using the transformation method, the feasibility conditions on virtual controllers
are removed. Subsequently, in order to avoid the inherent “explosion of complexity” problem of backstepping methods, a
f
irst-order filter is introduced. Then an adaptive control strategy is presented on the basis of backstepping technique, which
enables system states do not violate constraint boundary and converge to preset boundaries within a finite-time. Mean
while, the output asymptotically tracks the reference signal. Finally, an applied example demonstrates the effectiveness of
the proposed method. |
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