多输入极值搜索系统预设性能控制

Prescribed performance control of multi-input extremum seeking systems

针对一类多输入极值搜索系统的预设性能控制问题,首先,利用目标函数设计出状态量极值参考轨迹;然后,利用性能函数和误差转换函数构建等效模型,分别针对单输入系统进行预设性能控制器设计;最后,从反演控制的角度逐步选取适当的李雅普诺夫函数设计不确定参数自适应估计律.该方法结构简单,容易实现,使系统在满足预设性能的前提下完成了极值搜索过程,数学仿真验证了方法的可行性.

To solve prescribed performance control problems of strict-feedback multi-input extremum seeking systems.Firstly,system state′s extremum reference trajectory was designed by objective function.Secondly,equivalent model was constructed by performance functions and error transfer functions,and prescribed performance controller was designed for single-input system.Finally,controller and uncertain parameters estimation law were designed based on appropriate Lyapunov function from the view of backstepping control,and both objective function extremum was searched and prescribed performance index was realized by this simple method.Simulation result shows that the proposed design method is effectiveness.