输出受限迟滞非线性系统的反步控制器设计
Backstepping control of output-constrained nonlinear systems with hysteresis

针对一类含有Bouc-Wen迟滞的输出受限非线性系统设计了反步控制器. 首先分析了Bouc-Wen模型的特性 并得到其上界值, 然后设计了对称型障碍Lyapunov函数(barrier Lyapunov function, BLF), 保证了BLF有界, 从而满足 了输出受限的条件, 最后利用反步法设计控制器. 该方法消除了迟滞引起的振荡和超调并且使得系统输出约束在 设定的范围内, 同时解决了迟滞和系统输出受限两个方面的影响, 提高了控制精度. 仿真和实验结果表明了控制方 法的可行性.
A backstepping controller is proposed for a class of output-constrained nonlinear system with hysteresis described by Bouc-Wen model. First, the property of Bouc-Wen mode is discussed and the upper bound is derived. Then the symmetric barrier Lyapunov function (BLF) is proposed to ensure the boundedness and achieve the output-constrained conditions. Finally, the backstepping controller is proposed to eliminate oscillation and overshoot caused by hysteresis. Furthermore, it constrains the output of system in set range. This controller solves the influence of hysteresis and constrained output simultaneously. Moreover, the controller can improve the control precision. The simulation and experimental results prove that this control method is practicable.