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Robust bounded control for nonlinear uncertain systems with inequality constraints

机译：具有不等式约束的非线性不确定系统的鲁棒有界控制

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摘要

A novel bounded control for nonlinear uncertain systems with inequality constraints is considered. First, a state transformation is applied to satisfy the inequality constraints of the controlled outputs. Therefore, the controlled outputs are within the desired bounds. Next, a diffeomorphism is introduced for the control inputs. Based on that, the control inputs are transformed to be bounded functions. The maximum and minimum of the control inputs can be artificially set by choosing a proper bounding function. This control scheme is able to guarantee uniform boundedness and uniform ultimate boundedness. The simulation shows that the control cost of the novel bounded control and the error of the controlled system are smaller than LQR control, regardless of the uncertainty.
机译：考虑具有不等式约束的非线性不确定系统的新型有界控制。首先，应用状态变换来满足受控输出的不等式约束。因此，受控输出在所需范围内。接下来，引入微分同构用于控制输入。基于此，控制输入将转换为有界函数。控制输入​​的最大值和最小值可以通过选择适当的边界函数来人为设置。该控制方案能够保证一致的有界性和一致的最终有界性。仿真表明，无论不确定性如何，新型有界控制的控制成本和受控系统的误差均小于LQR控制。

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  • 来源
    《Mechanical systems and signal processing》 |2020年第6期|106665.1-106665.19|共19页
  • 作者

    Chenming Li; Han Zhao; Hao Sun; Ye-Hwa Chen;

  • 作者单位

    School of Mechanical Engineering Hefei University of Technology Hefei Anhui 230009 PR China The George W. Woodruff School of Mechanical Engineering Georgia Institute of Technology Atlanta Georgia 30332 USA;

    School of Mechanical Engineering Hefei University of Technology Hefei Anhui 230009 PR China AnHui Key Laboratory of Digital Design and Manufacturing Hefei University of Technology Hefei Anhui 230009 PR China;

    National Engineering Laboratory for Highway Maintenance Equipment Chang'an University Xi'an Shanxi 710065 PR China The George W. Woodruff School of Mechanical Engineering Georgia Institute of Technology Atlanta Georgia 30332 USA;

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  • 原文格式 PDF
  • 正文语种 eng
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  • 关键词

    Bounded control; Inequality constraints; Uncertainty; Nonlinear systems;

    机译：有界的控制;不平等约束;不确定;非线性系统;

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