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针对连续系统的有限时间目标轨迹预见跟踪控制问题,给出了基于轨迹协调误差和切换规则的预见跟踪控制方法.该方法首先将轨迹协调误差和位置跟踪误差连同状态变量的微分组成新的系统状态变量,把跟踪问题转化为调节问题,设计了基于协调误差的带有目标值预见的跟踪控制系统.然后针对复杂目标轨迹跨过不同坐标轴的情况,采用切换系统方法,实现了目标轨迹的全程预见跟踪控制.本文同时是子系统为时变系统的切换系统的典型范例.数值仿真说明了该方法的有效性.
Aiming at the problem of predictive tracking control of a finite-time target trajectory for a continuous system, a predictive tracking control method based on the trajectory coordination error and switching rule is given. The method first computes the trajectory coordination error and the position tracking error with the differentiation of the state variables into a new system state Variable, the tracking problem is transformed into a regulation problem, and a tracking control system with a target value prediction based on coordination error is designed.According to the situation that a complex target trajectory straddles different coordinate axes, the switching system method is adopted to realize the whole trajectory of the target trajectory Predictive tracking control.This paper is also a typical example of the subsystem switching system for time-varying systems.Numerical simulation shows the effectiveness of the method.