To balance the performance and implementability of classical predefined performance control algorithm when its hard constraint is violated, this article investigates a switching‐based prescribed‐performance‐like control (PPLC) approach for nonli...
http://chineseinput.net/에서 pinyin(병음)방식으로 중국어를 변환할 수 있습니다.
변환된 중국어를 복사하여 사용하시면 됩니다.
https://www.riss.kr/link?id=O111696612
2021년
-
1049-8923
1099-1239
SCIE;SCOPUS
학술저널
2546-2571 [※수록면이 p5 이하이면, Review, Columns, Editor's Note, Abstract 등일 경우가 있습니다.]
0
상세조회0
다운로드다국어 초록 (Multilingual Abstract)
To balance the performance and implementability of classical predefined performance control algorithm when its hard constraint is violated, this article investigates a switching‐based prescribed‐performance‐like control (PPLC) approach for nonli...
To balance the performance and implementability of classical predefined performance control algorithm when its hard constraint is violated, this article investigates a switching‐based prescribed‐performance‐like control (PPLC) approach for nonlinear teleoperation systems. To achieve the objective, a switching mechanism is introduced into the classical controller design and based on this, a nonlinear proportional plus auxiliary compensation controller is designed, where a switched filter control technique is employed. By modeling the resulting closed‐loop system as a special switched delayed system and using the piecewise Lyapunov‐Krasovskii functional method, the state‐independent input‐to‐output stabilty of closed‐loop system is established, where a feasible range of the “initial” values of piecewise continuous performance function is given to achieve a tradeoff between the closed‐loop stability and overshoot. It is shown that the developed switching‐based PPLC approach obtains better performance than the classical predefined performance control algorithms. Simulations on a pair of 3‐DOF planar arms illustrate the approach.