基于障碍Lyapunov函数的未知控制方向非线性系统的约束鲁棒输出调节

Constraint robust output regulation for nonlinear systems with unknown control direction based on a barrier Lyapunov function

本文研究一类不确定非线性系统的约束鲁棒输出调节问题.在具有未知控制输入方向的情况下,要求被控非线性系统的受控输出在趋近于零的同时,被限制在给定的范围内.文章结合障碍Lyapunov函数和Nussbaum增益技术,进行反馈控制器的设计.通过MATLAB仿真验证了控制算法的合理性.同时,与基于二次型Lyapunov函数设计的仿真结果进行对比,表明了控制算法的有效性.

We investigate the constraint robust output regulation problem for uncertain nonlinear systems.It is assumed that the control direction is unknown,and furthermore,the controlled output is required to be confined in some given region when it approaches zero.Based on the general output regulation framework,a feedback controller is designed by combining the barrier Lyapunov function and Nussbaum-type techniques.Simulation shows the effectiveness of the control scheme and indicates the superiority of barrier Lyapunov function design.