Adaptive prescribed performance tracking control for strict-feedback nonlinear systems with zero dynamics
Adaptive prescribed performance tracking control for strict-feedback nonlinear systems with zero dynamics
复制标题
零动态严格反馈非线性系统的自适应规定性能跟踪控制
DOI：
10.1002/rnc.4739
复制
发表时间：
2019
影响因子：
3.9
通讯作者：
Lu Shouyin
中科院分区：
文献类型：
--
作者：
Liu Cungen;Wang Huanqing;Liu Xiaoping;Zhou Yucheng;Lu Shouyin
研究了零动态严格反馈非线性系统的自适应跟踪控制问题。基于多项式拟合，首次提出了一种可调性能函数，其参数可根据跟踪误差进行真实的实时调整。此外，自适应指定的性能跟踪控制器的构造通过反推方法，它保证所有的状态在闭环系统是有界的。同时，输出跟踪误差福尔斯落在一个可调的性能边界内，并渐近收敛到零。仿真结果表明，所设计的控制器具有以下优点：（1）根据跟踪误差在线调整可调性能函数的参数，使性能边界快速收敛;（2）同时进一步优化系统的稳态性能。
This paper focuses on the adaptive tracking control problem for strict‐feedback nonlinear systems with zero dynamics via prescribed performance. Based on polynomial fitting, an adjustable performance function is firstly proposed, whose parameters can be adjusted in real time according to the tracking error. Furthermore, an adaptive prescribed performance tracking controller is constructed via the backstepping method, which guarantees that all the states in the closed‐loop system are bounded. Meanwhile, the output tracking error falls within an adjustable performance boundary and asymptotically converges to zero. Simulation comparison demonstrates the advantages of the developed controller as follows: (1) the parameters of the adjustable performance function are adjusted online according to the tracking errors for a faster convergent performance boundary; (2) the steady‐state performance of the system is further optimized simultaneously.