输出误差约束的非线性系统的预定性能反步控制及应用

Prescribed performance back-stepping control of nonlinear system with output error constraint and application

针对带有执行器故障、外界干扰与不确定参数的非线性系统的控制问题,提出自适应预定性能反步控制策略。首先,采用结构简单的障碍Lyapunov函数处理输出误差约束;其次,通过自适应律对不确定参数进行估计,并构造干扰观测器估计综合不确定,解决执行器故障、外界干扰与传统反步控制的“计算爆炸”问题;在此基础上设计预定性能控制器;再次,基于Lyapunov理论证明闭环系统的稳定性、输出误差满足约束;最后,通过永磁同步电机仿真验证所设计的控制策略的有效性。

An adaptive prescribed performance back-stepping control scheme is designed for a class of nonlinear systems considering actuator fault,external disturbances and uncertain parameters.Firstly,a simple-structure barrier Lyapunov function is proposed to ensure the prescribed performance of output error.Secondly,the adaptive law is used to estimate the uncertain parameters.A disturbance observer is applied to estimate the lumped uncertain terms,which includes actuator fault,external disturbance and the time derivative of the virtual control inputs.The"explosion of terms"problem inherent in traditional backstepping control is avoided at the same time.Thirdly,the stability of the closed-loop system and the constraint of the output error are proved based on Lyapunov theory.Finally,the simulation of permanent magnet synchronous motor control is shown to testify the effectiveness of the proposed control scheme.