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Improved decentralized prescribed performance control for non-affine large-scale systems with uncertain actuator nonlinearity

机译：不确定执行器非线性的非仿射大型系统的改进分散式规定性能控制

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摘要

This work considers a decentralized control problem for non-affine large-scale systems with non-affine functions possibly being discontinuous. A semi-bounded condition for non-affine functions is presented to guarantee the controllability, and the non-affine system is transformed to an equivalent pseudo-affine one based on the mild condition. Different from conventional control schemes on specific actuator nonlinearity, the controller proposed in this paper can deal with a series of actuator nonlinearities such as backlash and deadzone nonlinearity. A time-varying stable manifold involving the tracking error and its high-order derivatives is utilized to handle the high-order dynamics of each subsystem. Besides an improved prescribed performance controller independent of the initial condition is constructed to ensure the finite-time convergence of the error manifold to a predefined region. The boundedness and convergence of the closed-loop system are proved by Lyapunov theory and the counter-evidence method. Two examples are performed to verify the theoretical findings. (C) 2019 The Franklin Institute. Published by Elsevier Ltd. All rights reserved.
机译：这项工作考虑了非仿射功能可能不连续的非仿射大规模系统的分散控制问题。提出了非仿射函数的半有界条件，以保证可控性，并且基于温和条件，将非仿射系统转换为等效的伪仿射系统。与传统的针对特定执行器非线性的控制方案不同，本文提出的控制器可以处理一系列执行器非线性，例如反冲和死区非线性。时变稳定流形涉及跟踪误差及其高阶导数，用于处理每个子系统的高阶动力学。除了独立于初始条件的改进的规定性能控制器之外，还构造成确保误差歧管在预定时间范围内的有限时间收敛。利用李雅普诺夫理论和反证方法证明了闭环系统的有界性和收敛性。通过两个例子验证了理论发现。 （C）2019富兰克林研究所。由Elsevier Ltd.出版。保留所有权利。

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  • 来源
    《Journal of the Franklin Institute》 |2019年第13期|7091-7111|共21页
  • 作者

    Wang Yingyang; Hu Jianbo; Zheng Yingjie;

  • 作者单位

    Air Force Engn Univ Equipment Management & Unmanned Aerial Vehicle En Xian 710051 Shaanxi Peoples R China;

    Nanjing Normal Univ Sch Foreign Languages & Cultures Nanjing 210046 Jiangsu Peoples R China;

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