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针对一类含参数不确定性的输入和状态受限的非线性系统,提出一种受限指令预设性能自适应反演控制器设计方法.采用自适应反演方法,同时考虑输入和状态受限构建受限指令滤波器,以解决“计算膨胀”的问题;引入伪控制减缓方法对误差进行补偿;最后考虑了补偿跟踪误差的瞬态性能.通过Lyapunov理论对所设计的控制器进行稳定性分析,并通过仿真实例验证了所提出方法的正确性和有效性.
Aiming at a kind of nonlinear system with parameter uncertainty and input-limited state, a method to design adaptive inverse controller with limited instruction pre-performance is proposed. By using adaptive inversion method, both input and state The limit order filter is constructed to solve the problem of “calculating expansion”. The false control mitigation method is introduced to compensate for the error. Finally, the transient performance of compensating tracking error is considered. The controller is designed by Lyapunov theory Stability analysis, and verify the correctness and effectiveness of the proposed method through simulation examples.