一类具有预设跟踪性能的约束控制器设计

A Constrained Controllerdesign with Prescribed Tracking Performance

针对一类含有输出约束的严格反馈非线性系统,设计了一种预设性能控制方法。与基于障碍Lyapunov函数(Barrier Lyapunov Function,BLF)的控制方法相较,本文所提控制算法通过构造一种新颖的混合坐标变换,分别对系统的输出与跟踪误差进行约束,避免了BLF引起的保守性问题。此外,所设计控制器中的性能函数不依赖于系统的输出约束条件,增大了其选取的灵活性。仿真实例验证了文中所提控制器的有效性。

In this paper,a prescribed performance control scheme is designed for a class of strict feedback nonlinear systems with output constraints.Compared with the control approaches using barrier Lyapunov function(BLF),the control algorithm proposed in this paper constructs a novel hybrid coordinate transformation,which constrains the system output and the tracking error respectively,thus removing the conservative issue caused by BLF.In addition,the performance function in the designed controller does not reply on the output constraints of the system,increasing its selection flexibility.A simulation example verifies the effectiveness of the proposed controller.