多电机驱动系统的保性能鲁棒Funnel控制

This paper proposes an optimal robust guaranteed cost funnel control scheme for the multi-motor driving system with parameter uncertainties to achieve the prescribed tracking performance. By constructing a funnel function to transform the tracking error system, an adaptive backstepping controller is designed to stabilize the transformed error system, which can guarantee the tracking error constrained within the funnel boundaries. However, since there are the parameter uncertainties existing in the system which may influence the prescribed tracking performance, an optimal robust guaranteed cost controller is constructed by transforming the robust guaranteed cost control problem of the uncertain system into the optimal control problem of the nominal system and then solving the new Riccati equation. Therefore, the proposed controller can not only deal with the influence of the parameter uncertainties on the system, but also make the cost function reach a certain upper bound. Finally, simulation and experimental results based on a four-motor driving system demonstrate the effectiveness of the proposed scheme.