反推
控制理论(社会学)
稳健性(进化)
跟踪误差
非线性系统
计算
指数稳定性
模糊逻辑
计算机科学
单调函数
鲁棒控制
模糊控制系统
数学
自适应控制
瞬态(计算机编程)
人工神经网络
跟踪(教育)
控制系统
错误检测和纠正
符号(数学)
非线性控制
数学优化
积分器
符号函数
控制工程
控制(管理)
有界函数
作者
Lan Cao,Xiucai Huang,Maolong Lv,Yongduan Song
标识
DOI:10.1109/tac.2026.3660175
摘要
This article presents an asymptotic tracking control framework that accommodates generalized performance specifications for a class of unknown strict-feedback nonlinear systems. The proposed method, which is approximation-free, confines transient performance within a preassigned more flexible region (rather than merely a funnel one) by employing unified performance functions (instead of monotonic functions) to facilitate the output tracking error transformation, the underlying problem is reduced to purely stabilization control for the newly transformed system. By integrating the robust integral of the sign of error (RISE) technique with the backstepping approach, a continuous control law is developed that ensures asymptotic tracking and robustness against uncertainties and disturbances without employing neural or fuzzy approximators, which not only guarantees the boundedness of the closed-loop signals, but also remains the computation complexity at a low level. The effectiveness and superiority of the proposed algorithm are demonstrated through simulation.
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