预设性能控制的脆弱性问题探究

基于对现有预设性能控制理论的脆弱性缺陷分析，提出了非脆弱PPC新理论的基本构想。首先，简要概述了PPC的基本框架与关键技术；然后，系统分析了现有PPC当系统遭遇执行器饱和、受扰等问题时可能导致的控制奇异问题，并指出了现有PPC的脆弱性缺陷；接着，给出了非脆弱PPC新理论的主要设想以及需要解决的3个基础性问题，即误差感知、包络调整与预设可达；最后，基于非脆弱PPC的技术构想，对现有PPC方法进行改进，给出了可行的非脆弱PPC技术方案，并通过数值对比仿真验证了所提方案的优越性。相关结果有望弥补PPC理论的脆弱性缺陷，有助于开辟非脆弱PPC研究新领域。

Research on the Fragility Problem of Prescribed Performance Control

The fragility defect of the existing prescribed performance control (PPC) is discussed. Based on this, the basic conception of non fragile PPC is proposed. Firstly, the basic framework and key technologies of PPC are briefly summarized. Then, the possible control singular problem caused by actuator saturation and disturbance of the existing PPC is systematically analyzed, the fragility problem of the existing PPC is pointed out, and the main idea of the non fragile PPC methodology and three basic problems (i.e.,error sensing,envelope adjustment and prescribed performance guarantee) that should be solved are given. Finally, based on the basic conception of non-fragile PPC, feasible implementation schemes of which are presented, and the superiority is verified via compared simulations. The relevant researching results are able to make up for the fragility defect of PPC and also are beneficial for opening up the new research field of non-fragile PPC.