针对不确定非线性系统，设计了一种无需模型的输出反馈控制器。
Fully Actuated Manifold Constraint Based Output Feedback Control for Input-Constrained Uncertain Nonlinear Systems
- 基于流形约束构建无模型输出反馈控制
- 在执行器饱和前后均能实现预设精度控制
- 适用于高阶系统，适合工程中的不确定控制场景
本文提出一种低复杂度、无需模型的输出反馈控制器，适用于一类未知时变非线性系统及未知输入约束。当执行器未饱和时，控制器可实现预设控制精度；执行器饱和后仍能保持灵活控制精度。该方法将现有线性流形约束控制扩展至更一般的非线性流形及多种约束形式，从而在有限时间或固定时间内实现预设控制精度。通过构造误差驱动的柔性约束，实现了未知饱和条件下的灵活控制。最后，给出了二阶及以上系统的控制示例与仿真验证。
原文摘要 · Abstract (English)
This paper presents a low-complexity, model-free, output-feedback controller for a class of unknown time-varying nonlinear systems with unknown input constraints. The controller achieves the preset control accuracy when the actuator is not saturated and maintains flexible control accuracy after actuator saturation. This result extends existing constraint control methods for linear manifolds to a more general form, including the construction of nonlinear manifolds and various types of constraints, thereby achieving preset control accuracy within finite or fixed time. Additionally, flexible control under unknown saturation is achieved through the construction of an error-driven flexible constraint. Finally, second-order and higher-order control examples and simulations are provided.
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