论文标题
通过漏斗预科剂的规定性能输出反馈控制
Output feedback control with prescribed performance via funnel pre-compensator
论文作者
论文摘要
我们仅通过输出反馈研究具有高度相对程度的系统的输出参考跟踪；这是跟踪输出导数未知的位置。为此，我们证明了漏斗预汇报与最小相对相对程度的最小相位系统的结合产生的相对程度相同的系统，也是最小相位的系统。原始系统的输出与预汇报器的输出之间的误差在规定的性能漏斗中演变；此外，漏斗预科剂的输出的衍生物是明确已知的。因此，在不了解原始系统输出的衍生物的情况下，具有跟踪误差的规定瞬态行为的输出参考跟踪是可能的；例如，通过漏斗控制方案。
We study output reference tracking of systems with high relative degree via output feedback only; this is, tracking where the output derivatives are unknown. To this end, we prove that the conjunction of the funnel pre-compensator with a minimum phase system of arbitrary relative degree yields a system of the same relative degree which is minimum phase as well. The error between the original system's output and the pre-compensator's output evolves within a prescribed performance funnel; and moreover, the derivatives of the funnel pre-compensator's output are known explicitly. Therefore, output reference tracking with prescribed transient behaviour of the tracking error is possible without knowledge of the derivatives of the original system's output; via funnel control schemes for instance.
