引用本文: 姜博严,李佳玲,李传江,姚文卿.二阶系统有限时间控制方法综述[J].控制理论与应用,2024,41(5):769~797.[点击复制] JIANG Bo-yan,LI Jia-ling,LI Chuan-jiang,YAO Wen-qing.Review on finite-time control method for a second-order system[J].Control Theory and Technology,2024,41(5):769~797.[点击复制]

Review on finite-time control method for a second-order system

DOI编号  10.7641/CTA.2023.20003
2024,41(5):769-797

 作者 单位 E-mail 姜博严 常州工学院/河海大学常州校区 jiangby_hhu@163.com 李佳玲 河海大学 李传江* 哈尔滨工业大学 lichuan@hit.edu.cn 姚文卿 常州工学院

相比于传统且经典的比例–积分–微分(PID)控制, 带有指数参数的有限时间控制方法具有更好的控制性能, 因而引起广泛的关注和研究. 本文首先从方法设计和稳定性分析角度, 对现有主流有限时间控制方法进行整理和归纳, 将其分为17种有限时间状态反馈控制方法及6种有限时间输出反馈控制方法. 其次, 以一类具有普遍和基础性的二阶系统为例, 统一变量和参数, 给出了每种控制方法对应的控制器的显式结构. 然后, 通过原理分析和比较分析, 对每种控制方法的优点及不足之处进行了总结, 尤其是给出了终端滑模控制具有“控制奇异与收敛时间矛盾性”的结论, 以及指出了一些方法存在较大保守性的问题. 最后, 通过列表的方式展示了所有有限时间控制方法的优缺点及值得进一步深入研究的课题

In comparison to the traditional and classical proportional-integral-derivative (PID) control, the finite-time control with exponential parameters has better control performance, so it has been widely researched in recent years. This paper reviews nearly all the mainstream finite-time control methods, and the main contributions of this review are as follows. First, the mainstream finite-time control methods are divided into seventeen finite-time state feedback control methods and six finite-time output feedback control methods, on the basis of stability analysis. Afterwards, for a general and fundamental second-order system, the mathematical expressions of all the control methods are explicitly presented by standardizing variables and parameters. In the next part, through principle analysis and comparative analysis, the advantages and disadvantages of every control method are summarized, in particular, the problem of “the contradiction between control singularity and convergence time” with regard to terminal sliding mode control, and the mistakes of some control methods are proposed. Finally, the comparison results and the future research directions of all the control methods are presented in tabular form.