输入和状态受限条件下非完整系统的镇定与跟踪控制研究

In the practical engineering, the system frequently has some constraints on the system input and state due to the physical characteristics of the system components (interrupt, saturation, dead band, etc.) and some restrictions for the system performance and security. This project investigates the stabilization and tracking control problem of nonholonomic systems with input and state constraints. First, by using approximation technique to deal with input saturation, this project investigates the stabilization and tracking control problem of nonholonomic systems with input constraint. Then, by introducing Barrier Lyapunov Function or nonlinear mapping to deal with state constraint, this project investigates the stabilization and tracking control problem of nonholonomic systems with state constraint. Finally, this project investigates the control problem of nonholonomic systems with both input and state constraints. Based on the above studies, this project proposes the control theory and method for nonholonomic systems with uncertain and constraints, and provides a new way to solve the control problem of practical nonholonomic systems...

在工程实际中，由于系统元件的物理特性（中断、饱和、死区等）以及为了保证系统性能和安全而做的一些限制，使得系统输入和状态往往具有一定的约束. 本项目拟将在输入和状态受限条件下研究非完整系统的镇定与跟踪控制问题. 首先，利用近似技术处理输入饱和问题，研究输入受限条件下非完整系统的镇定与跟踪控制；然后，通过引入障碍Lyapunov 函数或非线性映射处理状态约束问题，研究状态受限条件下非完整系统的镇定与跟踪控制；最后，考虑同时具有输入和状态受限的非完整系统的控制问题. 基于上述研究，提出不确定的、对抗约束的非完整系统控制理论与方法，为解决实际非完整系统的控制问题提供新的途径.

本课题考虑了不确定非完整系统在输入/状态受限情况下的控制问题. 其主要研究包括：针对输入受限的链式系统和前馈非完整系统，利用嵌套饱和技术处理输入饱和问题，实现了渐近/有限时间状态反馈镇定以及部分状态不可测情况下的输出反馈镇定；针对状态受限的不确定非完整系统，通过引入非线性映射处理状态约束问题，解决了其渐近/有限时间控制问题.课题的实施将为受限非完整系统的控制理论研究提供新的思路和方法，为解决实际非完整系统的控制问题提供新的途径.