摘要
考虑一种电机驱动的单连杆机械臂系统在受到输出约束时的自适应有限时间H∞跟踪控制问题.一个有限时间有界H∞性能的新概念被提出,并结合障碍Lyapunov函数(BLF)、神经网络自适应技术、有限时间控制理论和H_(∞)控制理论,提出了一种该系统在输出受限条件下的自适应神经有限时间有界H_(∞)跟踪控制器设计方法,避免了许多有限时间控制文献中控制器设计时出现的奇点问题,实现了该机械臂系统的有限时间有界H_(∞)轨迹跟踪控制.所设计的控制器保证了系统跟踪误差能够被约束在预先给定的范围内,并且所有状态能在有限时间内收敛到平衡状态的邻域内,同时对外部扰动具有H_(∞)性能.仿真结果验证了所设计控制器的有效性和优越性.
The adaptive finite-time H_(∞) tracking control problem is considered for a motor-driven single-link manipulator system with output constraint in this paper.A new concept on finite-time bounded-H_(∞) performance is proposed.And a design method for adaptive neural finite-time bounded-H_(∞) tracking controller of the manipulator system with output constraint is given by combining barrier Lyapunov function,neural network adaptive technique,finite-time control theory with H_(∞) control theory.The singularity problem emerged in many references with regard to finite time control is avoided when the controller is designed.The purpose of finite-time bounded-H_(∞) trajectory tracking control for the manipulator system is achieved.The designed controller can guarantee that the tracking error of the system is constrained by predefined boundary,and all the system states can converge into the neighborhood of the equilibrium state within a finite time.The influence of external disturbances can be attenuated by H_(∞) performance at the same time.The simulation results verify the effectiveness and superiority of the designed controller.
作者
李小华
杨瑞芳
刘辉
何帅
LI Xiao-hua;YANG Rui-fang;LIU Hui;HE Shuai(School of Electronic and Information Engineering,University of Science and Technology Liaoning,Anshan Liaoning 114051,China)
出处
《控制理论与应用》
EI
CAS
CSCD
北大核心
2021年第1期147-156,共10页
Control Theory & Applications
基金
辽宁省自然科学基金项目(20180550319)
辽宁省博士启动基金项目(2019–BS–126)资助。
