ABSTRACT

In this paper, we study the constraints of control inputs, which is important to system performance, but rarely noticed. To deal with the constraints in practical situations, a new approach is proposed based on using diffeomorphism, which is the first introduced. Based on this transformation, the control input can be regarded as a function of an auxiliary variable. As a result, the value of control input is limited to a prescribed bound by choosing the proper bounded function. That is, it provides a new aspect to deal with the inequality control input constraints. The range of the input bounds is related to the uncertainties and can be designed according to the actual situation. This novel control is proven to guarantee uniform boundedness and uniform ultimate boundedness. In the simulation, we show this control renders a superior performance at a lower control cost, comparing with the LQR control.

摘要

在本文中，我们研究了控制输入的约束，这对系统性能很重要，但很少被注意到。针对实际情况下的约束，提出了一种基于微分同胚的新方法，并首次引入。基于这种变换，控制输入可以看作是辅助变量的函数。结果，通过选择适当的有界函数，控制输入的值被限制在规定的范围内。也就是说，它为处理不等式控制输入约束提供了一个新的方面。输入边界的范围与不确定性有关，可根据实际情况进行设计。这种新颖的控制被​​证明可以保证统一的有界性和统一的最终有界性。在模拟中，