AI 中文总结
针对受硬执行器约束的不确定高阶非线性系统，提出带动态增益的PPO与自适应机制结合的输出反馈控制器，可恢复状态反馈方案性能，仿真验证其跟踪与控制平滑性。
AI 中文摘要
本文研究了受硬执行器约束、仅可测量输出误差而系统状态和期望轨迹导数无法用于反馈的不确定高阶非线性系统的动态跟踪任务。我们提出了一种鲁棒输出反馈控制器，可在此框架内保证自适应性能指标。该方案采用带动态增益的新型规定性能观测器（PPO），在避免使用过大固定观测器增益的同时提高了估计精度；此外，引入了一种自适应机制，可根据执行器限制动态调整输出性能指标，确保闭环信号有界。我们建立了分离原理，表明该输出反馈方案可恢复其状态反馈对应方案的性能。对比仿真结果显示，在执行器限制、不确定性和测量噪声下，该方案能实现精确跟踪和平滑的施加控制。
英文摘要
In this paper, we consider uncertain high-order nonlinear systems performing dynamic tracking tasks under hard actuator constraints, where only the output error is available for measurement, while the system states and the desired trajectory derivatives are unavailable for feedback. We propose a robust output-feedback controller that guarantees adaptive performance specifications in this framework. The proposed scheme employs a novel Prescribed Performance Observer (PPO) with dynamic gains, which enhances estimation accuracy while avoiding large fixed observer gains. In addition, we introduce an adaptive mechanism that dynamically adjusts the output performance specifications according to the actuator limitations, ensuring bounded closed-loop signals. We establish a separation principle showing that the output-feedback scheme recovers the performance of its state-feedback counterpart. Comparative simulations demonstrate accurate tracking and smoother applied control under actuator limitations, uncertainties, and measurement noise.
