基于高阶障碍李雅普诺夫函数的约束非线性系统的预定跟踪精度控制

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（1. 516082；2.湖南石油化工职业技术学院，湖南岳阳 ）

中图分类号：TP391

文献标识码：A 文章编号：2096-4706（2026）06-0131-05

Prescribed Tracking Accuracy Control for Constrained Nonlinear Systems Based on High-order Barrier Lyapunov Function

LIAN Guiming，QIAO Yujiao²，LI Ming，HUANG Yudao' （1.GuangdongHuizhou Natural Gas Power Generation Co.，Ltd.，Huizhou 516o82，China; 2.Hunan Petrochemical Vocational TechnologyCollege，Yueyang 4141oo， China）

Abstract：This paper studies the adaptive prescribed tracking accuracy control problem fora classof uncertain nonlinear systems.Anew barier functionisconstructed.Inthe presence of unknownparameters and external disturbances，the output tracking error is maintained withinanarbitrarilysmallregion through the adjustmentof controlparameters andadaptive parameters，andtheangeofitialvaluesforthesystemoutputisexpanded.Onthisbasis，anadaptivetackingcontrolmethodis designedbycombiningthebarierfunctionwiththebackstepping method.This methodavoidstheviolationofoutputconstraints and ensures that the tracking error converges toa prescribed compact set.Simulationresults verifythe efectivenesof the proposed method.

Keywords： nonlinear system; Barier Lyapunov Function; prescribed tracking acuracy;output constraint; smooth function

0 引言

在过去的几十年里，随着控制技术的不断发展，针对复杂非线性系统的控制策略得到了广泛研究。（剩余6810字）