论文标题
基于逻辑的切换有限时间稳定在机械系统中的应用
Logic-based switching finite-time stabilization with applications in mechanical systems
论文作者
论文摘要
本文研究了一类具有未知控制方向和非结构化不确定性的非线性系统的有限时间稳定问题。非结构化的不确定性表明，不仅参数，而且系统非线性的结构都不确定。贡献主要在以下两个方面：首先，为考虑系统提出了一种新的自适应控制方法。基于逻辑的开关规则用于在线调整控制器参数，以在有限的时间内稳定系统。与现有的结构化/参数不确定性的现有自适应控制器不同，引入了新的开关屏障Lyapunov方法和监督功能，以克服由非结构化的不确定性和未知控制方向引起的障碍。其次，基于随时间变化的后退方案，对所提出的方法进行了扩展，以便所有系统状态可以在规定的有限时间中调节为零。此外，提出了一个新的分析工具，以显示控制信号的界限。进行仿真以验证所提出方法的有效性。
This paper investigates the finite time stabilization problem for a class of nonlinear systems with unknown control directions and unstructured uncertainties. The unstructured uncertainties indicate that not only the parameters but also the structure of the system nonlinearities are uncertain. The contributions are mainly in the following two aspects: First, a new adaptive control method is proposed for the considered system. Logic-based switching rule is utilized to tune the controller parameters online to stabilize the system in finite time. Different from the existing adaptive controllers for structured/parametric uncertainties, a new switching barrier Lyapunov method and supervisory functions are introduced to overcome the obstacles caused by unstructured uncertainties and unknown control directions. Second, based on a time-varying backstepping scheme, an extension is made to the proposed method such that all the system states can be regulated to zero in prescribed finite time. Moreover, a new analysis tool is presented to show the boundedness of the control signals. Simulations are conducted to verify the effectiveness of the proposed methods.
