[1]林晓棚,王志胜. 基于性能约束的非完整系统输出跟踪控制[J].机械与电子,2026,44(02):45-52.
　LIN Xiaopeng,WANG Zhisheng. Output Tracking Control for Nonholonomic Systems with Performance Constraints[J].Machinery & Electronics,2026,44(02):45-52.
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 基于性能约束的非完整系统输出跟踪控制()
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《机械与电子》[ISSN:1001-2257/CN:52-1052/TH]

卷:
44
期数:
2026年02期
页码:
45-52
栏目:
自动控制
出版日期:
2026-02-26

文章信息/Info

Title:
 Output Tracking Control for Nonholonomic Systems with Performance Constraints
文章编号:
1001-2257(2026)02-0045-08
作者:
 林晓棚; 王志胜
 (南京航空航天大学自动化学院,江苏 南京 211106)
Author(s):
 LIN Xiaopeng; WANG Zhisheng
 (College of Automation Engineering,Nanjing University of Aeronautics and Astronautics,Nanjing 211106,China)
关键词:
非完整系统; 跟踪控制; 自适应控制; 预设性能
Keywords:
nonholonomic systems; tracking control; adaptive control; prescribed performance
分类号:
O231.9;TP242
文献标志码:
A
摘要:
 针对高阶非完整系统在外部扰动下的性能跟踪一致性问题,提出了一种基于有限时间函数的方法。首先利用中继切换将该系统分为2个阶段;然后,构造一个有限时间函数,利用该函数引入一个性能函数,将系统的输出状态受限问题转换为无约束的状态跟踪问题;最后,对该无约束误差跟踪系统采用反步法进行逐步控制设计。现有大多数针对预设性能的非完整系统,多数只能保证跟踪的最终有界,而所提方法能够实现在预设性能下,输出误差跟踪在有限时间内收敛,而不是无限时间。实验结果表明了所提方法的有效性,验证了其有限时间收敛性能。
Abstract:
 To address the performance constrained tracking consistency issue for high order nonholonomic systems under external disturbances,a finite time function based approach is proposed.First,the system is divided into two phases using relay switching,and a finite time function is constructed.By employing this function,a performance function is introduced to transform the constrained output state problem into an unconstrained state tracking problem.Subsequently,an iterative control design is performed using the backstepping method for this unconstrained error tracking system.Finally,a backstepping control scheme is applied step by step to design the controller for the resulting unconstrained error tracking system.While most existing prescribed performance methods for nonholonomic systems can only guarantee ultimate boundedness of tracking,the proposed approach ensures that the output tracking error converges within a finite time under prescribed performance constraints,rather than asymptotically.Experimental results demonstrate the effectiveness of the proposed method and validate its finite time convergence performance.

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备注/Memo

备注/Memo:
 收稿日期:2025-10-28
作者简介:林晓棚 (2000-),男,浙江温州人,硕士研究生,研究方向为非完整系统控制技术;王志胜 (1970-),男,湖北荆门人,博士研究生导师,研究方向为智能机器人技术、智能感知与信息融合。
更新日期/Last Update: 2026-04-28