基于性能约束的非完整系统输出跟踪控制OA

To address the performance-constrained tracking consistency issue for high-order non-holonomic systems under external disturbances,a finite-time function-based approach is proposed.First,the system is divided into two phases using relay switching,and a finite-time function is constructed.By employing this function,a performance function is introduced to transform the constrained output state problem into an unconstrained state tracking problem.Subsequently,an iterative control design is per-formed using the backstepping method for this unconstrained error tracking system.Finally,a backstepping control scheme is applied step-by-step to design the controller for the resulting unconstrained error tracking system.While most existing prescribed performance methods for nonholonomic systems can only guarantee ultimate boundedness of tracking,the proposed approach ensures that the output tracking error converges within a finite time under prescribed performance constraints,rather than asymptotically.Exper-imental results demonstrate the effectiveness of the proposed method and validate its finite-time conver-gence performance.