| 引用本文: | 赵新龙,章亿凯,潘海鹏,马连伟.输出受限迟滞非线性系统的反步控制器设计[J].控制理论与应用,2016,33(5):608~612.[点击复制] |
| ZHAO Xin-long,ZHANG Yi-kai,PAN Hai-peng,MA Lian-wei.Backstepping control of output-constrained nonlinear systems with hysteresis[J].Control Theory and Technology,2016,33(5):608~612.[点击复制] |
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| 输出受限迟滞非线性系统的反步控制器设计 |
| Backstepping control of output-constrained nonlinear systems with hysteresis |
| 摘要点击 3367 全文点击 2612 投稿时间：2015-09-09 修订日期：2016-06-16 |
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| DOI编号 10.7641/CTA.2016.50738 |
| 2016,33(5):608-612 |
| 中文关键词 迟滞 Bouc-Wen模型 输出受限 障碍Lyapunov函数(BLF) 反步控制 |
| 英文关键词 hysteresis Bouc-Wen model output constrain barrier Lyapunov function (BLF) backstepping control |
| 基金项目 国家自然科学基金项目(61273184, 61540034), 长江学者和创新团队发展计划项目(IRT13097), 浙江省自然科学基金项目(LY15F030022, LZ15F030005), 浙江理工大学“521”人才培养计划项目资助. |
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| 中文摘要 |
| 针对一类含有Bouc-Wen迟滞的输出受限非线性系统设计了反步控制器. 首先分析了Bouc-Wen模型的特性
并得到其上界值, 然后设计了对称型障碍Lyapunov函数(barrier Lyapunov function, BLF), 保证了BLF有界, 从而满足
了输出受限的条件, 最后利用反步法设计控制器. 该方法消除了迟滞引起的振荡和超调并且使得系统输出约束在
设定的范围内, 同时解决了迟滞和系统输出受限两个方面的影响, 提高了控制精度. 仿真和实验结果表明了控制方
法的可行性. |
| 英文摘要 |
| A backstepping controller is proposed for a class of output-constrained nonlinear system with hysteresis described
by Bouc-Wen model. First, the property of Bouc-Wen mode is discussed and the upper bound is derived. Then
the symmetric barrier Lyapunov function (BLF) is proposed to ensure the boundedness and achieve the output-constrained
conditions. Finally, the backstepping controller is proposed to eliminate oscillation and overshoot caused by hysteresis. Furthermore,
it constrains the output of system in set range. This controller solves the influence of hysteresis and constrained
output simultaneously. Moreover, the controller can improve the control precision. The simulation and experimental results
prove that this control method is practicable. |
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