一类输入受限不确定非线性系统的有限时间控制

摘要

针对现有处理输入受限非线性系统的方法计算过程复杂,误差大的特点,提出了一种有限时间稳定的控制器分段设计方法.在控制设计过程中,采用加幂积分法设计镇定系统的非饱和有限时间控制器,而当该控制器的输出超过给定的有界上限输出时,利用泛函的知识证明了系统此时也是有限时间稳定的,同时证明了分段点的存在性,给出了对应参数的选取规则,从而实现了输入受限问题的分段处理.仿真结果验证了该方法的有效性.%To solve the problems of current methods in processing the uncertain nonlinear system with input constraints,such as complicated computation and the large errors,we proposed a step-by-step controllerdesigning method with finite-time stability.In the process of the control design,an unsaturated finite-time controller of the system was designed by adding a power integrator.Then,when the output of the controller exceeded the bounded upper-limit output,the functional knowledge was used to prove that the system was finite-time stable at that time and that the segment point was existed,and the selection rules of the corresponding parameters were given.As a result,the segment handling of the input-constraint problem was realized.Simulation results proved the effectiveness of the proposed method.