集成预设性能与RISE控制以实现不确定高阶非线性系统的渐近跟踪
Integrating Prescribed Performance and RISE Control for Asymptotic Tracking of Uncertain High-Order Nonlinear Systems
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中文总结 AI 辅助
针对不确定高阶非线性系统，提出一种结合屏障变换与RISE机制的连续低复杂度控制器，实现预设性能下的渐近跟踪，仿真验证了有效性。
中文摘要 AI 辅助
本文针对一类具有不确定动力学的不确定高阶非线性系统，解决了具有预设瞬态和稳态性能的渐近跟踪问题。所提出的控制器将滤波跟踪误差的屏障型变换与误差符号的鲁棒积分（RISE）机制相结合，形成了一种连续且低复杂度的设计。所提方法不采用神经、模糊或其他全局逼近结构。研究表明，所有闭环信号保持有界，预设性能漏斗对所有在漏斗内的初始条件均得以保持，并且在适当的增益选择下，跟踪误差渐近收敛到零。该分析提供了一种将预设性能控制（PPC）与RISE方法相结合的连续反馈综合方案。在船舶转向实例上的仿真结果验证了所提方法的有效性。
英文摘要
This paper addresses asymptotic tracking with prescribed transient and steady-state performance for a class of uncertain high-order nonlinear systems with uncertain dynamics. The proposed controller combines a barrier-type transformation of a filtered tracking error with a robust integral of the sign of the error (RISE) mechanism, yielding a continuous and low-complexity design. The proposed method does not employ neural, fuzzy, or other global approximation structures. It is shown that all closed-loop signals remain bounded, the prescribed performance funnel is preserved for all initial conditions in the funnel, and that the tracking error converges asymptotically to zero under appropriate gain selection. The analysis provides a continuous-feedback synthesis that integrates prescribed performance control (PPC) with the RISE methodology. Simulation results on a ship-steering example illustrate the effectiveness of the proposed approach.
发表机构
- Athena Research Center（雅典研究中心）
- Uppsala University（乌普萨拉大学）
- University of Thessaly（色萨利大学）
- University of Patras（帕特雷大学）
机构由 AI 辅助整理，请以论文原文为准。
