Tracking control for a class of random Lagrange systems with colored noise
Tracking control for a class of random Lagrange systems with colored noise
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DOI：
10.1109/chicc.2016.7553357
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发表时间：
2016-07
期刊：
影响因子：
--
通讯作者：
Mingyue Cui;Shitong Wang;Liangchao Geng
中科院分区：
文献类型：
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作者：
Mingyue Cui;Shitong Wang;Liangchao Geng
针对一类带色噪声的拉格朗日系统，考虑跟踪控制问题。利用拉格朗日系统的结构性质，巧妙地构造了一个李雅普诺夫函数。在此基础上，利用反推的思想，设计了一种跟踪控制器，通过调整设计参数，使得跟踪误差的均方收敛到零的任意小邻域内。通过随机力学模型验证了假设的合理性，仿真结果表明了控制方案的有效性。
For a class of Lagrange systems with colored noise, the problem of tracking control is considered. Using the structural properties of Lagrange systems, a Lyapunov function is skillfully constructed. Based on it, using backstepping idea, a tracking controller is designed such that the mean square of the tracking error converges to an arbitrarily small neighborhood of zero by tuning design parameters. By a stochastic mechanical model, the reasonability of assumption is verified, and the simulation result demonstrates the effectiveness of the control scheme.