未知扰动下非严格反馈系统的自适应优化跟踪控制

doi:10.12305/j.issn.1001-506X.2025.06.26

摘要/Abstract

摘要：

针对具有未知扰动和不可测状态的非严格反馈系统的优化控制问题, 提出一种自适应反步优化控制策略。首先, 构建一个复合观测器, 用以同时观测系统的未知状态和扰动。随后, 在每一步的反步法设计中引入包含扰动估计的非二次型代价函数, 并设计虚拟最优控制器及最终的实际优化控制器, 确保系统在实现控制优化的同时保持稳定性。在最优反步法的设计中, 仅引入单一的评价网络, 简化控制器的设计过程, 降低控制系统的复杂性。最终, 通过李雅普诺夫稳定性分析证明闭环系统的稳定性, 并通过数值仿真验证了所提方法的有效性。

关键词: 未知扰动, 不可测状态, 最优控制, 非严格反馈系统

Abstract:

An adaptive backstepping-based optimized control strategy is proposed for non-strict feedback systems with unknown disturbances and unmeasurable states. Firstly, a composite observer is constructed, aiming to observe both the unknown states and disturbances of the system. Secondly, a non-quadratic cost function containing the disturbance estimation is introduced at each step of the backstepping design, and all the virtual optimal controllers and the final actual optimal controllers are designed, which ensure the system stability while achieving control optimization. In the design process of the optimal backstepping method, only the single critic network is introduced, which simplifies the controller design process and reduces the complexity of the control system structure.Finally, the stability of the closed-loop system is proved by Lyapunov stability analysis and the effectiveness of the proposed method is verified by numerical simulation.

Key words: unknown disturbance, unmeasurable state, optimized control, non-strict feedback system

中图分类号:

TP273

李茹茹, 李靖, 张朝辉. 未知扰动下非严格反馈系统的自适应优化跟踪控制[J]. 系统工程与电子技术, 2025, 47(6): 1985-1993.

Ruru LI, Jing LI, Zhaohui ZHANG. Adaptive optimized tracking control of non-strict feedback systems under unknown perturbations[J]. Systems Engineering and Electronics, 2025, 47(6): 1985-1993.

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