| 引用本文: | 李小华,王傲翔,刘晓平.随机激励下板球系统建模与有限时间全状态预设性能跟踪控制[J].控制理论与应用,2020,37(11):2333~2346.[点击复制] |
| LI Xiao-hua,WANG Ao-xiang,LIU Xiao-ping.Modeling and finite-time full state prescribed performance tracking control for ball and plate system with stochastic noise[J].Control Theory and Technology,2020,37(11):2333~2346.[点击复制] |
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| 随机激励下板球系统建模与有限时间全状态预设性能跟踪控制 |
| Modeling and finite-time full state prescribed performance tracking control for ball and plate system with stochastic noise |
| 摘要点击 1572 全文点击 524 投稿时间：2019-08-12 修订日期：2020-06-11 |
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| DOI编号 10.7641/CTA.2020.90675 |
| 2020,37(11):2333-2346 |
| 中文关键词 板球系统 随机噪声 建模 有限时间控制 预设性能 全状态约束 |
| 英文关键词 ball and plate system stochastic noise modeling finite-time control prescribed performance full state constraints |
| 基金项目 辽宁省自然科学基金项目(20180550319), 辽宁省博士启动基金项目(2019–BS–126)资助. |
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| 中文摘要 |
| 研究板球系统受到随机激励时的数学建模与轨迹跟踪控制问题. 首次建立了板球系统的随机数学模型, 并
结合backstepping方法、有限时间预设性能函数、全状态约束及新的预设性能推导方法设计了具有未知输入饱和的
随机板球系统实际有限时间全状态预设性能跟踪控制器, 实现了随机激励下板球系统的有限时间预设性能轨迹跟
踪控制. 所设计的控制器保证了系统跟踪误差能够被预先给定的有限时间性能函数约束, 并且能在任意给定的停息
时间内收敛到预先给定的邻域内. 最后通过仿真实验验证了所设计控制器具有更好的控制效果. |
| 英文摘要 |
| Modeling and trajectory tracking control problem are studied for ball and plate system with stochastic noise
in this paper. A stochastic mathematical model of ball and plate system is established for the first time. A practical finitetime
full state prescribed performance tracking controller is designed for the stochastic ball and plate system with unknown
input saturation by combining backstepping technique, finite-time prescribed performance function, full state constraints
with a new prescribed performance design method, so that finite-time prescribed performance trajectory tracking control
for the ball and plate system with stochastic noise is achieved. The designed controller can guarantee that the tracking
error of the system is constrained by a predefined finite-time performance function, and the tracking error can converge to a
predetermined neighborhood within the arbitrarily given settling time. Finally, the simulation results show that the designed
controller has a better control effect. |