基于正系统分析的不确定非线性系统性能驱动控制方法

A performance-driven control (PDC) approach with guaranteeing prescribed performance for a class of uncertain nonlinear systems is proposed. Different from the idea of nonlinear transformation of the ratio of the error to the boundary performance function in the traditional prescribed performance control (PPC) method, the paper introduces the theory of positive system analysis based on Metzler matrix and combines it with the switching control technique based on the idea of guaranteeing that the state quantities and the upper and lower boundaries are always nonnegative to ensure that the system state is always within the preset performance function. Consequently, the stability of the closed-loop system depends on the selected performance boundary function, which results in a unified framework. The design procedure, stability analysis and discussion for a class of uncertain nonlinear systems are provided in the paper, and numerical simulations verify the effectiveness of the proposed method.