基于时变幂和参数不确定性的非线性系统自适应有限时间控制

Adaptive finite-time control of nonlinear systems based on time-varying powers and parametric uncertainties

摘要

本文研究具有参数不确定性的非线性系统中的自适应有限时间控制问题。该类系统的阶次不是常数而是时变函数且非线性函数中含有参数不确定性。结合Lyapunov函数、符号函数、添加幂积分器与自适应控制方法,设计自适应状态反馈控制器。该控制器能够在系统参数不确定且系统阶次为时变函数时,确保系统是半全局实用有限时间稳定的。最后,仿真结果验证所提出的控制方法的可行性和有效性。

Abstract

For a class of nonlinear systems with parameter uncertainty, the adaptive finite time control problem is studied. The powers of the system are time-varying functions instead of constants, and the nonlinear functions contain parametric uncertainties. In order to solve this problem, an adaptive state feedback controller is designed by cleverly combining the Lyapunov function, the symbolic function, adding a power integrator and adaptive control method, which can ensure that the system with parameter uncertainties and time-varying powers is semi-global practical finite time stability. Finally, the simulation results verify the feasibility and effectiveness of the control method proposed in this study.

关键词

参数不确定性 / 非线性系统 / 半全局实用有限时间稳定 / 自适应控制

Key words

parametric uncertainties / nonlinear systems / semi-globally practical finite-time stable / adaptive control

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基金资助

国家自然科学基金青年项目(62103175)