| 引用本文: | 李爽,周超,王芳.约束非线性系统的固定时间滤波反步控制[J].控制理论与应用,2026,43(2):404~412.[点击复制] |
| LI Shuang,ZHOU Chao,WANG Fang.Fixed-time filtered backstepping control for a constrained nonlinear system[J].Control Theory & Applications,2026,43(2):404~412.[点击复制] |
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| 约束非线性系统的固定时间滤波反步控制 |
| Fixed-time filtered backstepping control for a constrained nonlinear system |
| 摘要点击 130 全文点击 20 投稿时间：2023-12-14 修订日期：2025-03-07 |
| 查看全文 查看/发表评论 下载PDF阅读器 HTML |
| DOI编号 10.7641/CTA.2024.30807 |
| 2026,43(2):404-412 |
| 中文关键词 非线性系统 输出误差约束 预定性能函数 固定时间干扰观测器 固定时间控制 滤波器 |
| 英文关键词 nonlinear system output error constraint prescribed performance function fixed-time disturbance observer fixed-time control filter |
| 基金项目 河北省高等学校科学技术研究项目(ZD2022012), 中央引导地方科技发展资金项目(236Z1601G), 河北省自然科学基金项目(2021203028), 国家 自然科学基金项目(62073234)资助. |
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| 中文摘要 |
| 针对一类带有输出误差约束和外界干扰的非线性系统, 结合固定时间干扰观测器, 本文设计滤波反步控制
策略. 首先, 设计预定性能函数, 处理输出误差约束问题. 其次, 利用固定时间滤波器和固定时间干扰观测器, 分别解
决反步控制的“计算爆炸”问题和外界干扰问题, 干扰估计误差在固定时间内收敛到零. 再次, 采用Lyapunov理论分
析闭环系统是固定时间稳定的, 且输出误差在预设时间内满足约束要求. 最后, 利通过比仿真验证控制策略的有效
性. |
| 英文摘要 |
| Considering a class of nonlinear systems under output error constraints and external disturbances, a filtered
backstepping control strategy is proposed by combining with a fixed-time disturbance observer. Firstly, the prescribed
performance function is designed to solve the problem of output error constraint. Secondly, a fixed time filter and a
fixed-time disturbance observer are designed to respectively tackle the “explosion of complexity” problem and the external
disturbances problem, and to ensure that the disturbance estimation error converges to zero within a fixed time. The
Lyapunov theory is utilized to analyze the fixed time stability of the closed-loop system, at the same time, the output error
meets the constraint requirements in the preset time. Finally, comparative simulation is used to verify the effectiveness of
the control strategy. |
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