Prescribed Performance Bumpless Transfer Control for Switched Large-Scale Nonlinear Systems
针对一类切换大规模非线性系统，提出一种控制协议，在满足预设性能约束（跟踪误差收敛到预定残差集、最大超调和最小收敛速率）和无扰切换约束（切换时控制输入冲击最小化）的同时，通过修改信号和辅助正系统主动降低性能界，并采用切换扰动观测器估计外部扰动。
This article presents a novel control protocol for a class of switched large-scale nonlinear systems subject to prescribed performance constraints and bumpless transfer constraints. The prescribed performance constraints enforce the output tracking error to converge to a predefined residual set, with a predefined maximum overshoot and minimum convergence rate. Meanwhile, the bumpless transfer constraints restrict the bump of the control input when switching between two adjacent modes. By incorporating the modification signals into the prescribed performance functions (PPFs), control-bump PPFs (CPPFs) are provided to proactively reduce the performance bounds to a reasonable level. The modification signals are associated with control bumps and generated by an auxiliary switched positive system. Furthermore, a model of control bump is developed to enhance the dynamic response, and switched disturbance observers are employed to estimate external disturbances. In the framework of dynamic surface control and multiple Lyapunov stability theory, a prescribed performance bumpless transfer control (PPBTC) approach is proposed to guarantee the prescribed performance and bumpless transfer performance. Finally, a practical example of the proposed control scheme is presented to demonstrate its validity and applicability.