| 引用本文: | 杨航,黄英博,李光,那靖.具有非对称输出约束的非线性系统预设时间控制[J].控制理论与应用,2026,43(1):22~29.[点击复制] |
| YANG Hang,HUANG Ying-bo,LI Guang,NA Jing.Prescribed-time control for nonlinear systems with asymmetric output constraints[J].Control Theory & Applications,2026,43(1):22~29.[点击复制] |
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| 具有非对称输出约束的非线性系统预设时间控制 |
| Prescribed-time control for nonlinear systems with asymmetric output constraints |
| 摘要点击 254 全文点击 34 投稿时间：2025-02-23 修订日期：2025-12-24 |
| 查看全文 查看/发表评论 下载PDF阅读器 HTML |
| DOI编号 10.7641/CTA.2025.50070 |
| 2026,43(1):22-29 |
| 中文关键词 预设时间控制 非对称输出约束 反步法 时变参数 |
| 英文关键词 prescribed-time control asymmetric output constraints backstepping method time-varying parameter |
| 基金项目 国家自然科学基金项目(62373174,62473180,62273169), 云南省基础研究计划项目(202201AW70005)资助. |
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| 中文摘要 |
| 本文针对一类具有非对称输出约束和时变参数的非线性系统,设计了一种预设时间控制器.相较于传统约
束控制方法中,设计者无法预先设定收敛时间和初始值满足约束条件的假设,该控制策略不仅可以在满足约束条件
的情况下将系统状态在预先设定的时间内调节至零,而且可以避免系统初值违反约束条件导致控制器奇异的风险.
首先,通过构造虚拟约束边界,消除了系统初始值需满足约束条件的限制,并保证了在预先设定的时间内将状态从
违反约束恢复到满足约束.其次,设计了可实现非对称约束下系统状态和转换函数同步收敛的等效转换方法.有别
于现有的预设时间控制,要求不确定非线性满足线性增长条件/未知定常参数,本文所研究的非线性系统包含不确
定时变参数,通过利用基于变量凝聚法的反步技术和预设时间调节函数,设计了一种能够处理非对称输出约束和时
变参数的预设时间控制器.最后,通过两个数值仿真案例验证了所提方法的有效性. |
| 英文摘要 |
| This paper proposes a prescribed-time controller for a class of nonlinear systems with asymmetric output
constraints and time-varying parameters. Compared with the traditional constraint control in which the designer cannot
preset the convergence time and the assumption that the initial value satisfies the constraints, the proposed controller can
not only regulate the system state to zero within a prescribed-time while satisfying the constraints, but also prevent the
potential singularity issue of controller when the system initial value violates the constraints. Firstly, the construction of
virtual constraint boundaries eliminates the requirement for initial states to satisfy constraint conditions, while guarantee
ing that states violating constraints can recover to constraint satisfaction within a prescribed-time. Secondly, an equivalent
transformation method is designed to achieve synchronous convergence of system states and transformation function under
asymmetric constraints. Unlike existing prescribed-time control approaches that require uncertain nonlinearities to meet
linear growth conditions or unknown constant parameters, the studied nonlinear system in this paper incorporates uncer
tain time-varying parameters. By employing backstepping techniques based on the congelation of variables method and
prescribed-time regulation function, a prescribed-time controller capable of handling the asymmetric output constraints
and time-varying parameters is designed. Finally, the effectiveness of the proposed method is demonstrated through two
numerical simulations. |
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