| 引用本文: | 张文广,闫瑾,段纳.严格反馈非线性系统的自适应最优预设时间跟踪控制[J].控制理论与应用,2026,43(5):1113~1122.[点击复制] |
| ZHANG Wen-guang,YAN Jin,DUAN Na.Adaptive optimal tracking control for strict-feedback nonlinear systems with predefined time[J].Control Theory & Applications,2026,43(5):1113~1122.[点击复制] |
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| 严格反馈非线性系统的自适应最优预设时间跟踪控制 |
| Adaptive optimal tracking control for strict-feedback nonlinear systems with predefined time |
| 摘要点击 382 全文点击 25 投稿时间：2024-05-16 修订日期：2025-06-22 |
| 查看全文 查看/发表评论 下载PDF阅读器 HTML |
| DOI编号 10.7641/CTA.2025.40277 |
| 2026,43(5):1113-1122 |
| 中文关键词 跟踪控制 严格反馈非线性系统 最优控制 预设时间稳定性 |
| 英文关键词 tracking control strict-feedback nonlinear systems optimal control predefined-time stability |
| 基金项目 国家自然科学基金项目(62173166), 江苏省教育厅自然科学基金项目(23KJB120014)资助. |
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| 中文摘要 |
| 针对一类具有时间响应约束和考虑指定性能的不确定严格反馈非线性系统, 本文提出了一种自适应最优
预设时间跟踪控制方法. 给出了控制器满足一类仿射形式的非线性系统实际最优预设时间稳定性的充分条件. 在
此基础上, 通过引入神经基函数和合适的低通滤波器, 构建了适用于该类严格反馈非线性系统的最优预设时间跟踪
控制器. 提出了一种新颖的自适应算法以调节神经网络权重范数的上界估值, 使得在被控系统受扰的情况下实现
任意设定跟踪误差的稳定时间. 证明了所提出的控制策略不仅能在预设的时间内稳定闭环系统, 还可最小化特定
性能指标. 利用两个仿真例子验证了所提控制策略的有效性. |
| 英文摘要 |
| In this paper, the problem of optimal predefined-time tracking is investigated for strict-feedback nonlinear
systems with disturbances. Firstly, the sufficient conditions for a controller to solve the practically optimal predefined-time
stabilization problem of nonlinear systems in affine form are presented. Then, a new tracking controller is developed by
introducing the property of the neural basis functions and low-pass filters into the backstepping design. A novel adaptive
algorithm is proposed to adjust the estimation of the upper bound of the norms of the neural network weights, which enables
the users to arbitrarily assign the stabilization time of the tracking errors in the presence of disturbances. After that, it is
shown that our proposed control can not only stabilize the closed-loop system within predefined-time, but also minimize
some certain performance measure. Finally, the effectiveness of the proposed control strategy is verified through simulation. |