具有软、硬输出约束的不确定非线性系统漏斗控制:一种直接修正方法OA

This paper investigates the tracking control problem for a class of uncertain nonlinear systems subject to simultaneous soft and hard output constraints.The safety-related output constraints are modeled as inviolable hard constraints,while the desired tracking performance is characterized by adjustable soft constraints.To address po-tential conflicts between soft and hard constraints,a smooth transition function is introduced,based on which con-vex combination operators are constructed to directly modify the soft constraint boundaries,thereby ensuring their compatibility with the hard constraints.On this basis,the hard constraints and the modified soft constraints are consolidated to construct a constraint structure with smooth boundaries.Based on this consolidated constraint structure and combined with funnel control techniques,a low-complexity robust control algorithm is proposed to en-sure the simultaneous satisfaction of the hard constraints and the modified soft constraints.Unlike existing meth-ods that rely on auxiliary dynamic systems to indirectly adjust soft constraints,the proposed strategy eliminates the need for extra dynamic systems,resulting in a structurally simple and easy-to-implement static controller.Further-more,when conflicts between soft and hard constraints occur,the proposed method ensures that the soft-constraint violation remains within a prescribed tolerance above the minimum violation necessary to satisfy the hard con-straints,and achieves constraint decoupling within a finite time,thereby prioritizing the strict satisfaction of hard constraints.Simulation results verify the effectiveness of the proposed method.