| 引用本文: | 丁超,石超,董新民,陈勇,刘棕成.控制方向未知的高次不确定非线性系统低复杂度预定性能控制[J].控制理论与应用,2019,36(10):1622~1630.[点击复制] |
| DING Chao,SHI Chao,DONG Xin-min,CHEN Yong,LIU Zong-cheng.Low-complexity prescribed performance control of high-order uncertain nonlinear system with unknown control directions[J].Control Theory and Technology,2019,36(10):1622~1630.[点击复制] |
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| 控制方向未知的高次不确定非线性系统低复杂度预定性能控制 |
| Low-complexity prescribed performance control of high-order uncertain nonlinear system with unknown control directions |
| 摘要点击 2250 全文点击 1072 投稿时间：2018-04-18 修订日期：2019-01-22 |
| 查看全文 查看/发表评论 下载PDF阅读器 |
| DOI编号 10.7641/CTA.2019.80278 |
| 2019,36(10):1622-1630 |
| 中文关键词 非线性系统, 控制系数, 低复杂度, 预定性能, 执行器故障 |
| 英文关键词 nonlinear system, control coefficients, low-complexity, prescribed performance, actuator falures |
| 基金项目 国家自然科学基金,中国博士后科学基金 |
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| 中文摘要 |
| 本文研究了控制方向未知的高次不确定非线性系统预定性能控制问题. 基于有理分式函数类型的误差转换, 通过设计具有切换形式的控制器, 提出了一种低复杂度的控制方法, 并利用Lyapunov理论和反证法证明了闭环系统稳定性. 与现有其他方法相比, 该方法具有适用范围广、跟踪精度高、容错能力强、控制器简单等优点. 仿真结果验证了本文结论. |
| 英文摘要 |
| This paper investigates the prescribed performance control problem of high-order uncertain nonlinear system with unknown control directions. Based on the error transformations in rational fraction forms, a low-complexity control scheme is proposed by designing a switching controller. The stability of the closed loop system is proved by Lyapunov theorem and contradiction. Compared with the existing methods, the proposed method possesses many advantages such as the wide application range, high tracking precision, strong fault-tolerant ability, and low-complexity controller, etc. Conclusions in this paper are demonstrated by a simulation. |
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