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本文研究了一类非线性纯反馈系统的预定性能控制问题.首先,为了避免繁琐的公式计算来处理纯反馈系统中的非仿射性结构,提出了一种非传统状态变换和引入关于控制输入的一阶辅助系统;其次,为了保证纯反馈系统预定性能,设计了一个相对简易的Lyapunov函数,利用反步法,给出了一个新的控制算法;最后,通过实验仿真表明,所设计的控制器可使非线性系统状态全局有界,且可保证系统的预定性能;与现有的方法相比,跟踪误差精度有显著提高,同时也具有一定鲁棒性.
In order to avoid complicated calculation of equations to deal with the non-affine structure in a pure feedback system, a non-traditional state transformation and the introduction of the control input In order to guarantee the predetermined performance of pure feedback system, a relatively simple Lyapunov function is designed and a new control algorithm is given by using the backstepping method. Finally, the experimental simulation shows that the designed control It can make the state of the nonlinear system globally bounded and ensure the predetermined performance of the system. Compared with the existing methods, the accuracy of the tracking error is significantly improved and it is also robust.