Zheng Shiqi, Li Wenjie
IEEE Trans Cybern. 2019 Jul;49(7):2693-2706. doi: 10.1109/TCYB.2018.2833864. Epub 2018 May 23.
This paper concentrates on the study of finite time control for nonlinear switched systems. Based on a newly introduced adding a barrier integrator technique, a novel adaptive fuzzy control strategy is proposed for a class of nonlinear switched systems. Compared with the existing adaptive control methods, the proposed method has several distinguishing features. Finite time control: the proposed adaptive control method can solve the exact finite time control problem for the stabilization and some types of tracking issues. Namely, the errors will converge to zero in finite time. For a general tracking problem, the practical finite time control can be achieved. More general systems: the proposed method is suitable for high order nonlinear switched systems with arbitrary switching and unknown control gains. Some strict assumptions on the system dynamics are relaxed. Full state constraints: the proposed method can be utilized to deal with the full state constraints problem. Simple controller structure: the "explosion of the complexity" in the backstepping design is avoided. Singularity free design: the singularity problem is carefully handled during the whole design procedure. Examples are presented to illustrate the effectiveness of the proposed method.
本文主要研究非线性切换系统的有限时间控制。基于新引入的添加障碍积分器技术，针对一类非线性切换系统提出了一种新颖的自适应模糊控制策略。与现有的自适应控制方法相比，该方法具有几个显著特点。有限时间控制：所提出的自适应控制方法能够解决稳定化和某些类型跟踪问题的精确有限时间控制问题。也就是说，误差将在有限时间内收敛到零。对于一般的跟踪问题，可以实现实际的有限时间控制。更一般的系统：该方法适用于具有任意切换和未知控制增益的高阶非线性切换系统。放宽了对系统动力学的一些严格假设。全状态约束：该方法可用于处理全状态约束问题。简单的控制器结构：避免了反步设计中的“复杂性爆炸”。无奇异设计：在整个设计过程中仔细处理了奇异性问题。通过实例说明了所提方法的有效性。
