对于未知控制方向的MIMO非线性系统,规定的性能观察员-控制器设计
Guan-Qun Chen1, Wen-Bo Xie2, Dong Qu1
1School of Artificial Intelligence, Shanghai University, Shanghai, 200444, PR China.
ISA transactions
|April 5, 2025
概括
这项研究引入了一个新的观察者控制器,用于未知输入方向的非线性系统,确保受限制的跟踪错误,以提高无人驾驶表面车辆等应用中的性能.
科学领域:
- 控制系统工程 控制系统工程
- 非线性系统分析 非线性系统分析
- 机器人技术和自主系统
背景情况:
- 多输入多输出 (MIMO) 非线性系统带来了重要的控制挑战,特别是未知的输入方向.
- 准确的状态估计和精确的轨迹跟踪对于自主系统的有效运行至关重要.
- 现有的控制方法往往在不确定性下难以保证性能约束.
研究的目的:
- 开发一个能够处理未知输入方向的多输入多输出 (MIMO) 非线性系统的观察者控制器.
- 通过整合规定的性能控制技术来确保受限的跟踪错误.
- 在实际应用中验证拟议的方法,例如无人驾驶地面车辆 (USV) 轨迹跟踪.
主要方法:
- 一个新的观察者设计,包括相当的输出注入和规定的性能,以限制估计错误.
- 使用Nussbaum函数和规定的性能控制 (PPC) 来管理未知的控制方向的控制器设计.
- 在无人地面车辆 (USV) 上进行模拟和实验验证,用于轨迹跟踪控制.
主要成果:
- 建议的观察者有效地限制了估计错误,即使存在系统非线性和未知的动态.
- 集成的观察者控制器成功实现了受约束的跟踪性能,证明了对未知的控制方向的稳定性.
- 该方法在无人驾驶地面车辆 (USV) 的轨迹跟踪控制任务中显示出显著的有效性.
结论:
- 开发的观察者控制器为控制未知输入方向的MIMO非线性系统提供了强大的解决方案.
- 规定的性能控制和Nussbaum函数的集成为实现受约束的控制目标提供了一个强大的方法.
- 对USV轨迹跟踪的成功应用凸显了拟议的控制战略的实际可行性和有效性.
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