输入饱和与性能约束下的低复杂度控制：一种双向修正方案
Low-Complexity Control Under Input Saturation and Performance Constraints: A Bidirectional Modification Scheme
- Chongqing University（重庆大学）
- Aristotle University of Thessaloniki（塞萨洛尼基亚里士多德大学）
- Nanyang Technological University（南洋理工大学）
机构由 AI 辅助整理，请以论文原文为准。
AI总结：
针对受输入饱和与性能约束的高阶不确定强耦合MIMO非线性系统，提出无模型等特性的低复杂度控制方案，通过双向修正机制提升控制性能，仿真验证了方法的有效性与优越性。
AI中文摘要：
本文针对一类受输入饱和与性能约束的高阶不确定强耦合多输入多输出（MIMO）非线性系统的输出跟踪控制问题展开研究。为解决该问题，构建了一种双向修正机制，该机制不仅能在饱和发生时放松约束以缓解潜在冲突，还能在饱和停止后加快原始约束的恢复，若稳态阶段饱和未激活则进一步收紧约束以提升控制性能。基于该机制，提出了一种无模型、无近似、无复杂度爆炸的控制方案。为规避李雅普诺夫分析中的障碍，开发了一种新颖的稳定性分析框架，该框架在满足两个参数选择条件时，可确保修正后约束的满足及所有闭环信号的有界性。仿真结果验证了该方法的有效性与优越性。
英文摘要：
This article addresses the output tracking control problem for a class of high-order uncertain highly-coupled MIMO nonlinear systems subject to input saturation and performance constraints. To resolve the problem, a bidirectional modification mechanism is constructed, which is able to not only relax the constraints when saturation occurs to alleviate potential conflict, but also accelerate the recovery of original constraints after saturation ceases, and further tighten the constraints to enhance control performance if saturation remains inactive at the steadystate phase. Based on the mechanism, a model-, approximationand complexity-explosion-free control scheme is proposed. To bypass the obstacle in Lyapunov analysis, a novel stability analysis framework is developed, which, given that two parameter selection conditions are met, ensures satisfaction of modified constraints and boundedness of all closed-loop signals. Simulation results validate the effectiveness and superiority of the methodology.
