不确定连续系统预设性能非线性PID控制

Prescribed Performance Nonlinear PID Control for Uncertain Continuous Systems

研究不确定连续系统仅输入输出数据可利用情况下的非线性PID控制问题.在系统参考输入信号和输出信号连续可微的条件下引入预设性能控制理论,并基于预设性能控制的性能函数和误差转换思想设计了简单的非线性函数以组合形成非线性PID控制器,进而从理论上证明其可行性.仿真实验表明,所设计的控制器继承了传统PID的优点,且参数调整更灵活,系统的鲁棒自适应性和抗扰性更好.

The nonlinear PID controller is studied for uncertain continuous systems only with the systems＇ input and output （I/O） data. Under the condition of continuously differentiable reference input and output signal, the prescribed performance control theory is considered. Based on the performance function and the error transformation theory, a simple nonlinear function is then designed to construct a nonlinear PID controller with feasibility proved by theoretical analysis. The proposed controller inherits the advantages of traditional PID with better adaptability robustness and anti-disturbance performance, and better flexibility in parameter adjustment as well. Effectiveness of the results is shown with numerical examples.