论文标题
非线性系统的输入受限的漏斗控制
Input-constrained funnel control of nonlinear systems
论文作者
论文摘要
我们研究了不确定的非线性多输入，多输出系统的跟踪控制，该系统由$ r $ -th阶功能微分方程（包含任意严格相对程度的系统）在有输入约束的情况下。目的是确保任何足够平滑的参考信号，保证具有规定的渐近形状（从而实现所需的瞬态和渐近精度目标）的性能漏斗中的跟踪误差的演变。我们设计了一个新型的漏斗控制器，为了满足输入约束，我们包含一个动态组件，每当输入饱和度活跃时，该组件都会扩大漏斗边界。该设计是无模型的，具有低复杂性，并扩展了早期的漏斗控制方法。我们提供了一个模拟，其中控制器与这些方法进行了比较。
We study tracking control for uncertain nonlinear multi-input, multi-output systems modelled by $r$-th order functional differential equations (encompassing systems with arbitrary strict relative degree) in the presence of input constraints. The objective is to guarantee the evolution of the tracking error within a performance funnel with prescribed asymptotic shape (thus achieving desired transient and asymptotic accuracy objectives), for any sufficiently smooth reference signal. We design a novel funnel controller which, in order to satisfy the input constraints, contains a dynamic component which widens the funnel boundary whenever the input saturation is active. This design is model-free, of low-complexity and extends earlier funnel control approaches. We present a simulation where the controller is compared to these approaches.
