论文标题
规定的性能自适应固定时间态度态度跟踪3-DOF直升机的控制
Prescribed Performance Adaptive Fixed-Time Attitude Tracking Control of a 3-DOF Helicopter with Small Overshoot
论文作者
论文摘要
在本文中，研究了一种新颖的规定性能自适应固定时间后击控制策略，以跟踪3-DOF直升机的态度。首先，新的统一屏障功能（UBF）旨在将规定的性能约束系统转换为无约束的系统。然后，建立了一个固定时间（FXT）后退控制框架以实现态度跟踪。实际上，由于新提出的不平等，构建了非单明一角的虚拟控制定律。此外，采用了具有补偿机制的FXT区分来克服“复杂性爆炸”的问题。此外，制定了修改的自适应定律，以近似扰动的上限。为了获得定居时间的不保守和更准确的近似，提出了改进的FXT稳定性定理。基于该定理，证明系统的所有信号都是FXT有限的，并且跟踪误差在用户定义的时间内收敛到具有小过冲的预设域。最后，通过数值模拟证实了所提出的控制策略的可行性和有效性。
In this article, a novel prescribed performance adaptive fixed-time backstepping control strategy is investigated for the attitude tracking of a 3-DOF helicopter. First, a new unified barrier function (UBF) is designed to convert the prescribed performance constrained system into an unconstrained one. Then, a fixed-time (FxT) backstepping control framework is established to achieve the attitude tracking. By virtual of a newly proposed inequality, a non-singular virtual control law is constructed. In addition, a FxT differentiator with a compensation mechanism is employed to overcome the matter of "explosion of complexity". Moreover, a modified adaptive law is developed to approximate the upper bound of the disturbances. To obtain a less conservative and more accurate approximation of the settling time, an improved FxT stability theorem is proposed. Based on this theorem, it is proved that all signals of the system are FxT bounded, and the tracking error converges to a preset domain with small overshoot in a user-defined time. Finally, the feasibility and effectiveness of the presented control strategy are confirmed by numerical simulations.
