摘要
针对具有性能约束的二阶欠驱动系统的跟踪控制问题,提出了自适应鲁棒滑模控制策略。首先,利用约束转化方程将带有状态性能约束的系统转化成无约束系统,通过引入预设性能方程可以同时保证系统的动态性能和稳态性能满足预设目标;然后,针对转化后的无约束系统设计了自适应分层滑模控制策略,并通过Lyapunov方法严格地证明了控制系统的稳定性并获得了自适应律;最后,通过小车倒立摆对比仿真实验证明了控制器的有效性和优越性。
In order to solve the trajectory tracking problem of the second-order underactuated system with prescribed performance constraints, an adaptive hierarchical sliding mode control method is proposed. Firstly, a transformation function is introduced to convert the constraint system into unconstraint one. By introducing a prescribed performance function(PPF), the transient and steady performance of states tracking errors can meet the prescribed target. Then, an adaptive hierarchical sliding mode controller is designed for the unconstraint system. The stability of the control system is rigorously proved by the Lyapunov method and the adaptive law is obtained. Finally, comparison of simulation results of the cart-pole inverted pendulum illustrates the effectiveness and superiority of the proposed method.
作者
袁绩海
林涛
YUAN Ji-hai;LIN Tao(Department of Mechanical and Electrical Engineering,Henan Vocational College of Water Conservancy and Environment,Zhengzhou 450008,China;School of Computer Science&Technology,Huazhong University of Science and Technology,Wuhan 430074,China)
出处
《控制工程》
CSCD
北大核心
2022年第9期1619-1624,共6页
Control Engineering of China
基金
国家自然科学基金资助项目(51677078)。
关键词
二阶欠驱动系统
自适应控制
分层滑模控制
性能约束
Second-order underactuated system
adaptive control
hierarchical sliding mode control
prescribed performance constraint
