互联非线性时滞系统的分散式自适应跟踪控制

Decentralized adaptive tracking control for interconnected nonlinear time delay systems

为了实现系统对目标轨迹的快速准确跟踪,针对一类互联非线性时滞系统,提出了一种分散式自适应跟踪控制策略。通过使用极限学习机来处理系统中的未知非线性函数,引入Lyapunov-Krasovskii函数来处理未知时滞,结合反演控制技术和动态面控制技术,实现分散式自适应跟踪控制;基于Lyapunov稳定性理论以证明所设计的控制策略可以保证闭环系统跟踪误差一致且最终有界稳定,并借助两级化学反应釜系统验证所提控制策略的有效性。结果表明,所提控制策略能够有效处理系统中的非线性项与系统时滞,实现对目标轨迹的快速准确跟踪。所提策略能克服未知非线性和未知时滞对系统的影响,可为处理复杂非线性时滞系统提供参考。

In order to achieve fast and accurate tracking of the target trajectory,a decentralized adaptive tracking control strategy was proposed for a class of interconnected nonlinear time-delay systems.By using the extreme learning machine to deal with the unknown nonlinear function in the system,the Lyapunov-Krasovskii function was introduced to deal with the unknown time delay.The backstepping control technique and the dynamic surface control technique were combined to realize decentralized adaptive tracking control.Based on Lyapunov stability theory,it is demonstrated that the designed control strategy can ensure consistent and ultimately bounded stability of the tracking errors of the closed-loop system,and the effectiveness of the proposed control strategy was verified by the two-stage chemical reactor system.The results show that the proposed control strategy can deal with the nonlinear term and time delay of the system effectively,and realize fast and accurate tracking of the target trajectory.The provided strategy overcomes the effect of unknown nonlinear and unknown time delay on the system,which provides an effective method for dealing with complex nonlinear time-delay systems.