| 引用本文: | 刘玉发,刘海,刘勇华,赵曜,苏春翌.具有奇异输入输出链路的不确定互联非线性系统分散漏斗控制[J].控制理论与应用,2026,43(5):1052~1060.[点击复制] |
| LIU Yu-fa,LIU Hai,LIU Yong-hua,ZHAO Yao,SU Chun-yi.Decentralized funnel control of uncertain interconnected nonlinear systems with singular input-output links[J].Control Theory & Applications,2026,43(5):1052~1060.[点击复制] |
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| 具有奇异输入输出链路的不确定互联非线性系统分散漏斗控制 |
| Decentralized funnel control of uncertain interconnected nonlinear systems with singular input-output links |
| 摘要点击 321 全文点击 14 投稿时间：2024-08-26 修订日期：2025-11-24 |
| 查看全文 查看/发表评论 下载PDF阅读器 HTML |
| DOI编号 10.7641/CTA.2025.40459 |
| 2026,43(5):1052-1060 |
| 中文关键词 互联非线性系统 奇异输入输出链路 输出跟踪 漏斗控制 双边障碍函数 |
| 英文关键词 interconnected nonlinear systems singular input-output links output tracking funnel control bilateral barrier functions |
| 基金项目 国家自然科学基金项目(62173097,U2013601), 广东省基础与应用基础研究基金面上项目(2022A515011239), 广东省特支计划本土创新创业项目 (2019BT02X353)资助. |
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| 中文摘要 |
| 研究了一类具有奇异输入输出链路的不确定互联非线性系统的分散跟踪控制问题. 与高阶非线性系统相
比, 本文考虑的非线性系统具有奇异输入输出链路, 无需包含幂次函数结构, 使得增加幂次积分法无法直接用于该
系统的反馈控制设计. 为解决该控制问题, 本文结合反推技术和极限定义, 提出了一种基于双边障碍函数的分散漏
斗控制策略. 具体而言, 通过引入双边障碍函数, 在无需知晓系统函数先验知识的条件下, 确保了闭环系统的预设跟
踪性能; 同时, 援用极限定义, 解决了系统中奇异输入输出链路带来的技术挑战. 仿真实例验证了该控制算法的有效
性. |
| 英文摘要 |
| The decentralized tracking control problem for a class of uncertain interconnected nonlinear systems with
singular input-output links is studied in this paper. Unlike high-order nonlinear systems, the considered nonlinear systems
feature singular input-output links and do not require power function structures, rendering the technique of adding
one power integrator unsuitable for feedback control design. To address this control problem, we propose a bilateral barrier
function-based decentralized funnel control strategy, combining the backstepping technique with the limit definition.
Specifically, the introduction of the bilateral barrier function ensures the prescribed tracking performance of the closed-loop
system without prior knowledge of the system functions. Simultaneously, the technical challenges posed by singular inputoutput
links are addressed through the limit definition. The effectiveness of the proposed control algorithm is validated
through simulation examples. |
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