机械与电子2026，Vol.44Issue(2)：45-52,8.
基于性能约束的非完整系统输出跟踪控制
Output Tracking Control for Nonholonomic Systems with Performance Constraints
林晓棚 1王志胜1
作者信息
- 1. 南京航空航天大学自动化学院,江苏 南京 211106
- 折叠
摘要
Abstract
To address the performance-constrained tracking consistency issue for high-order non-holonomic 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 per-formed 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.Exper-imental results demonstrate the effectiveness of the proposed method and validate its finite-time conver-gence performance.关键词
非完整系统/跟踪控制/自适应控制/预设性能Key words
nonholonomic systems/tracking control/adaptive control/prescribed performance分类
数理科学引用本文复制引用
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(2):45-52,8.
