Funnel Control With Saturation: Linear MIMO Systems
Funnel Control With Saturation: Linear MIMO Systems
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DOI：
10.1109/tac.2009.2037475
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发表时间：
2010-01
期刊：
影响因子：
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通讯作者：
N. Hopfe;A. Ilchmann;Eugene P. Ryan
中科院分区：
文献类型：
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作者：
N. Hopfe;A. Ilchmann;Eugene P. Ryan
跟踪系统输出的参考信号（假设有界与本质上有界的衍生物）被认为是在一类非线性，单输入，单输出系统建模的泛函微分方程和输入饱和的背景下。预先指定的是一个参数化的性能漏斗内的跟踪误差是需要发展的瞬态和渐近行为的跟踪误差的影响，通过选择的参数值定义的漏斗。控制结构是一个饱和误差反馈与时变非单调增益的设计，以这样一种方式，以防止接触漏斗边界的演变。一个可行性条件，制定在边界的植物数据，饱和界，漏斗数据，参考信号，和初始数据的跟踪目标的实现，同时保持有界的状态和增益函数。
Tracking-by the system output-of a reference signal (assumed bounded with essentially bounded derivative) is considered in the context of a class of nonlinear, single-input, single-output systems modelled by functional differential equations and subject to input saturation. Prespecified is a parameterized performance funnel within which the tracking error is required to evolve; transient and asymptotic behaviour of the tracking error is influenced through choice of parameter values which define the funnel. The control structure is a saturating error feedback with time-varying nonmonotone gain designed to evolve in such a way as to preclude contact with the funnel boundary. A feasibility condition-formulated in bounds of the plant data, the saturation bound, the funnel data, the reference signal, and the initial data-is presented under which the tracking objective is achieved, whilst maintaining boundedness of the state and gain function.