基于BarrierLyapunov函数的严格反馈系统的全状态约束控制.pdfVIP

基于Barrier Lyapunov 函数的严格反馈系统的 全状态约束控制 王春晓，武玉强 曲阜师范大学工学院，日照，276862 摘要：本文研究了非对称时变全状态约束的严格反馈非线性系统的自适应控制问题。时变非 对称障碍李雅普诺夫函数的引入保证了状态约束条件的满足。时变的障碍李雅普诺夫函数可以 随着跟踪轨迹的改变而做相应调整从而放松了对于初始条件的要求，所以时变非对称的障碍李 雅普诺夫函数在控制设计中更具灵活性。首次通过变量代换及虚拟误差的界限消除了由反步法 所带来的高阶交叉项，所设计的控制器在不破坏任何约束条件的前提下最终达到了渐近跟踪， 并且闭环系统的所有信号最终有界。最后给出数值例子验证了控制器的性能。 关键词：非线性严格反馈系统；非对称障碍李雅普诺夫函数；时变；全状态约束；反步法. 中图分类号：O231.3 Barrier Lyapunov Function-based control for strict-feedback systems with full state constraints WANG Chun-xiao, WU Yu-qiang Department of Engineering, Qufu Normal University, Rizhao, 276862 Abstract: This paper studies an adaptive control design for a class of strict-feedback nonlinear systems with asymmetric time-varying full state constraints. A time-varying asymmetric Barrier Lyapunov Function (ABLF) is employed to ensure time-varying constraints satisfaction. By allowing the barriers to vary with the desired trajectory in time, the initial condition requirements are relaxed. Thus the ABLF can afford greater flexibility in control design. The high order coupling terms caused by backstepping method are canceled through variable substitution. Asymptotic tracking is achieved without violation of any constraints, and all signals in the closed-loop system are ultimately bounded. The performance of the ABLF-based control is illustrated through a numerical example. Key words: nonlinear strict-feedback system; ABLF; time-varying; full state constraints; backstepping. Foundations: The PhD Programs Foundation of Ministry of Education of China under Grant 20123705110002, National Natural Science Foundation and，the Project of Taishan Scholar of Shandong Province of China. Author Introduction: Wang Chun-xiao （1979-），female，associate professor