控制理论与应用2026，Vol.43Issue(5)：1052-1060,9.DOI:10.7641/CTA.2025.40459
具有奇异输入输出链路的不确定互联非线性系统分散漏斗控制
Decentralized funnel control of uncertain interconnected nonlinear systems with singular input-output links
摘要
Abstract
The decentralized tracking control problem for a class of uncertain interconnected nonlinear systems with singular input-output links is studied in this paper.Unlike high-order nonlinear systems,the considered nonlinear sys-tems feature singular input-output links and do not require power function structures,rendering the technique of adding one power integrator unsuitable for feedback control design.To address this control problem,we propose a bilateral bar-rier function-based decentralized funnel control strategy,combining the backstepping technique with the limit definition.Specifically,the introduction of the bilateral barrier function ensures the prescribed tracking performance of the closed-loop system without prior knowledge of the system functions.Simultaneously,the technical challenges posed by singular input-output links are addressed through the limit definition.The effectiveness of the proposed control algorithm is validated through simulation examples.关键词
互联非线性系统/奇异输入输出链路/输出跟踪/漏斗控制/双边障碍函数Key words
interconnected nonlinear systems/singular input-output links/output tracking/funnel control/bilateral barrier functions引用本文复制引用
刘玉发,刘海,刘勇华,赵曜,苏春翌..具有奇异输入输出链路的不确定互联非线性系统分散漏斗控制[J].控制理论与应用,2026,43(5):1052-1060,9.基金项目
国家自然科学基金项目(62173097,U2013601),广东省基础与应用基础研究基金面上项目(2022A515011239),广东省特支计划本土创新创业项目(2019BT02X353)资助.Supported by the National Natural Science Foundation of China(62173097,U2013601),the Guangdong Basic and Applied Basic Research Foundation(2022A515011239)and the Local Innovative and Research Team Project of Guangdong Special Support Program(2019BT02X353). （62173097,U2013601）
