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首页> 外文期刊>Automatic Control, IEEE Transactions on >Prescribed Performance Adaptive Control for Multi-Input Multi-Output Affine in the Control Nonlinear Systems
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Prescribed Performance Adaptive Control for Multi-Input Multi-Output Affine in the Control Nonlinear Systems

机译：控制非线性系统中多输入多输出仿射的规定性能自适应控制

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摘要

We consider the tracking problem of unknown, robustly stabilizable, multi-input multi-output (MIMO), affine in the control, nonlinear systems with guaranteed prescribed performance. By prescribed performance we mean that the tracking error converges to a predefined arbitrarily small residual set, with convergence rate no less than a prespecified value, exhibiting maximum overshoot as well as undershoot less than some sufficiently small preassigned constants. Utilizing an output error transformation, we obtain a transformed system whose robust stabilization is proven necessary and sufficient to achieve prescribed performance guarantees for the output tracking error of the original system, provided that initially the transformed system is well defined. Consequently, a switching robust control Lyapunov function (RCLF)-based adaptive, state feedback controller is designed, to solve the stated problem. The proposed controller is continuous and successfully overcomes the problem of computing the control law when the approximation model becomes uncontrollable. Simulations illustrate the approach.
机译：我们考虑在控制的非线性系统中仿射的，不确定的，鲁棒稳定的，多输入多输出（MIMO）仿射的跟踪问题，具有保证的规定性能。通过规定的性能，我们的意思是跟踪误差收敛到预定义的任意小的残差集，收敛速率不小于预定值，表现出最大过冲，而下冲小于某些足够小的预定常数。利用输出误差变换，我们获得了一种变换后的系统，只要最初对变换后的系统进行了很好的定义，就可以证明其鲁棒的稳定性足以为原始系统的输出跟踪误差提供规定的性能保证。因此，设计了基于开关鲁棒控制李雅普诺夫函数（RCLF）的自适应状态反馈控制器，以解决上述问题。所提出的控制器是连续的，并且成功地克服了当近似模型变得不可控制时计算控制律的问题。仿真说明了该方法。

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