【摘要】 针对具有非对称输出约束和外界干扰的非线性不确定系统，提出了基于固定时间干扰观测器和非对称障碍函数的有限时间控制策略。首先，采用非对称障碍函数处理系统的输出约束问题，保证输出满足约束条件；其次，通过构造固定时间干扰观测器对外界干扰进行估计，且估计误差在固定时间内收敛到零；再次，基于Lyapunov稳定性理论证明闭环系统在有限时间内有界稳定且输出满足约束条件；最后，通过永磁同步电机的仿真实验验证了所设计的控制策略的有效性。更多还原

【Abstract】 For uncertain nonlinear systems with asymmetric output constraints and external disturbances, a finite time control strategy based on fixed time disturbance observer and asymmetric barrier function is proposed. Firstly, an asymmetric barrier function is used to deal with the output constraints problem, and the output satisfies the constraint. Secondly, a fixed-time disturbance observer is designed to estimate external disturbances, and the estimation error converges to zero in fixed time. Moreover, based on Lyapunov stability theory, it is proved that the bounded stability of the closed-loop system is achieved in finite time. Finally, the effectiveness of the control strategy is verified by the simulation of the permanent magnet synchronous motor system.更多还原