期刊名称：IAENG International Journal of Computer Science
印刷版ISSN：1819-656X
电子版ISSN：1819-9224
出版年度：2021
卷号：48
期号：2
语种：English
出版社：IAENG - International Association of Engineers
摘要：For pure-feedback nonlinear system with input saturation constraint and system internal interference, the problem of prescribed performance control is considered. Firstly, a smooth nonlinear function is introduced to approach the saturation function of the input signal, which solves the design difficulty caused by nonlinearity of non-differential saturation. Then, the pure-feedback system is decoupled by using meanvalue theorem, so that the system controller can be constructed by utilizing the backstepping technique directly. Next, a novel system controller is proposed by combining prescribed performance control and fuzzy logic control technology. In the framework of Lyapunov stability theory, the controller can ensure that all closed-loop signals of the system are uniformly and ultimately bounded, and the tracking error of the system converges to the allowable range under the funnel function, thus the transient and steady-state performance of the system was guaranteed. Finally, the effectiveness of the control scheme is verified by a simulation example.
关键词：Nonlinear systems;funnel control;backstepping;nonsymmetric input saturation;pure-feedback systems
