| 引用本文: | 孙伟杰,乔雨晨,彭云建.基于障碍Lyapunov函数的未知控制方向非线性系统的约束鲁棒输出调节[J].控制理论与应用,2023,40(9):1696~1701.[点击复制] |
| SUN Wei-jie,QIAO Yu-chen,PENG Yun-jian.Constraint robust output regulation for nonlinear systems with unknown control direction based on a barrier Lyapunov function[J].Control Theory and Technology,2023,40(9):1696~1701.[点击复制] |
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| 基于障碍Lyapunov函数的未知控制方向非线性系统的约束鲁棒输出调节 |
| Constraint robust output regulation for nonlinear systems with unknown control direction based on a barrier Lyapunov function |
| 摘要点击 980 全文点击 377 投稿时间：2022-04-08 修订日期：2023-07-15 |
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| DOI编号 10.7641/CTA.2022.20250 |
| 2023,40(9):1696-1701 |
| 中文关键词 输出调节 Lyapunov函数 输出受限 控制方向未知 内模原理 |
| 英文关键词 output regulation Lyapunov function output constraint unknown control direction internal model |
| 基金项目 |
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| 中文摘要 |
| 本文研究一类不确定非线性系统的约束鲁棒输出调节问题. 在具有未知控制输入方向的情况下, 要求被控线性系统的受控输出在趋近于零的同时, 被限制在给定的范围内. 文章结合障碍Lyapunov函数和Nussbaum增益技术, 进行反馈控制器的设计. 通过MATLAB仿真验证了控制算法的合理性. 同时, 与基于二次型Lyapunov函数设计的仿真结果进行对比, 表明了控制算法的有效性 |
| 英文摘要 |
| We investigate the constraint robust output regulation problem for uncertain nonlinear systems. It is assumed that the control direction is unknown, and furthermore, the controlled output is required to be confined in some given region when it approaches zero. Based on the general output regulation framework, a feedback controller is designed by combining the barrier Lyapunov function and Nussbaum-type techniques. Simulation shows the effectiveness of the control scheme and indicates the superiority of barrier Lyapunov function design. |