Performance driving control method, system and device under asymmetric time-varying performance boundary

Abstract

The invention discloses a performance driving control method, system and device under an asymmetric time-varying performance boundary, and relates to the technical field of preset performance control, and the method comprises the steps: building a system state space model for outputting feedback for a high-order uncertain nonlinear system containing unknown disturbance; respectively designing an upper bound performance function and a lower bound performance function which are asymmetric for the system; constructing an asymmetric performance constraint interval with time-varying fluctuation according to the upper bound performance function and the lower bound performance function; constructing a high-order sliding-mode observer to observe an unknown state of the system and estimate unknown disturbance; an asymmetric performance driving controller is constructed, so that the state of the system is always constrained in an asymmetric performance constraint interval, and the convergence characteristic of the system is directly driven by an upper bound performance function and a lower bound performance function, so that asymptotically stable tracking of system output under the asymmetric time-varying performance boundary constraint is realized; the method solves the problem of preset performance control under the constraint of the asymmetric performance boundary function.

Description

Technical Field

[0001] This invention relates to the field of preset performance control technology, specifically to a performance-driven control method and system under asymmetric time-varying performance boundaries. Background Technology

[0002] In the field of control theory, Prescribed Performance Control (PPC) is an important control strategy that aims to design a controller to ensure that the system output or state operates within a pre-defined performance boundary, thereby guaranteeing the transient and steady-state performance of the system. In automatic control systems such as industrial control, robotics, and aerospace vehicles, there is often a problem of output feedback with disturbances that are difficult to measure the system state. In particular, in real-world scenarios, the preset performance requirements are affected by time-varying asymmetric fluctuations.

[0003] There are two preset performance control (PPC) methods: one is funnel control (…). Figure 1 It is an extension of the adaptive high-gain control method, using a time-varying state dependency function to replace the monotonically increasing control gain, thus ensuring that the state operates within a funnel-shaped boundary. However, funnel control is only suitable for lower-order nonlinear systems and cannot currently be applied to higher-order nonlinear systems; another method is preset performance boundary control (…). Figure 2 Based on the idea of ​​function transformation, the performance constraint problem of a given system state is transformed into a boundedness problem of new system variables. Both of the above methods can strictly restrict the evolution of the system state within a symmetric performance envelope.

[0004] However, in practical engineering, due to limitations of physical equipment, environmental factors, or the diversity of performance requirements, the constraints of system states are often asymmetric, and may even exhibit time-varying fluctuations. Existing preset performance controls typically use monotonic, smooth performance functions for asymmetric state constraints, which can be viewed as the original symmetric state constraints. translation Or scaled proportionally Therefore, it revolves around transforming the original performance function, making it difficult to adapt to fluctuating, non-smooth performance constraints. For uncertain nonlinear systems, existing asymmetric pre-defined performance control (APPC) methods require the design of a transformation function first. When the performance boundary function fluctuates, the parameter design needs to be adjusted to prevent the system state from exceeding the performance boundary. Secondly, APPC is usually based on backstepping, which can lead to dimensionality explosion when dealing with high-order systems due to multiple rounds of solving virtual control commands, resulting in control divergence. Moreover, the system convergence characteristics of APPC depend on the controller design itself, making it difficult to flexibly drive and shape the system's convergence process by directly selecting the performance function, thus limiting its performance-driven potential.

[0005] In summary, existing PPC methods typically require complex function transformations or multiple adjustments to controller parameters when dealing with asymmetric performance constraints, resulting in a cumbersome design process and poor adaptability. Especially when facing high-order, nonlinear, and disturbed systems, existing methods are prone to problems such as dimensionality explosion, control saturation, or performance boundary breaches. Consequently, the controllers pre-designed in actual automatic control systems cannot meet the preset performance indicators, making it difficult to guarantee control stability. Summary of the Invention

[0006] To address the shortcomings of existing technologies in handling high-order, nonlinear, and perturbed systems, which are prone to problems such as dimensionality explosion, control saturation, or performance boundary breaches, this invention proposes a performance-driven control method, system, and device under asymmetric time-varying performance boundaries. This method can directly handle fluctuating asymmetric boundaries, avoid complex function transformations and backstepping control designs, and achieve the goal of directly driving the system's convergence characteristics through performance functions, thereby solving the problems existing in the prior art.

[0007] A performance-driven control method under asymmetric time-varying performance boundaries includes the following steps: For a high-order uncertain nonlinear system with unknown disturbances, a system state-space model with output feedback is established; asymmetric upper and lower bound performance functions are set for the system respectively, and an asymmetric performance constraint interval with time-varying fluctuations is constructed based on the upper and lower bound performance functions. A high-order sliding mode observer (HOSM) is constructed based on the system state-space model with output feedback; the HOSM is used to observe the unknown state of the system and estimate unknown disturbances. Based on the observed system state and estimated disturbance, an asymmetric performance-driven controller (APDC) is constructed. The control law of the APDC ensures that the system state is always constrained within the asymmetric performance constraint interval, and its convergence characteristics are directly driven by the upper and lower bound performance functions. When the control signal output by the APDC is applied to a high-order uncertain nonlinear system with unknown disturbances, and both its upper and lower bound performance functions converge asymptotically, the system output can achieve asymptotically stable tracking under asymmetric time-varying performance boundary constraints.

[0008] Furthermore, the construction of the high-order sliding mode observer (HOSM) specifically includes the following steps: Construct a dynamic auxiliary system to constrain observation errors, and design the gain matrix to make the system matrix Hurwitz of the observation error dynamic model; By defining the null matrix relation and the pseudo-inverse matrix relation, and using a decoupling algorithm to recursively derive the observation error dynamics model, a high-order sliding mode observer (HOSM) is constructed.

[0009] Furthermore, the asymmetric upper bound performance function is set to be a non-increasing function, and the lower bound performance function is set to be a non-decreasing function, satisfying the following: At any time t Below, there are lower bound performance functions. and upper bound performance function Furthermore, the lower bound performance function has a limit as time approaches infinity. The upper bound of the performance function as time approaches infinity. Specifically, it means: At any time t Below, there are lower bound performance functions. and upper bound performance function Furthermore, the lower bound performance function has a limit as time approaches infinity. The upper bound of the performance function as time approaches infinity. Specifically, it means: .

[0010] Furthermore, the construction of the asymmetric performance-driven controller (APDC) based on the observed system state and estimated disturbances specifically includes the following steps: Define a performance-driven objective; the performance-driven objective satisfies: , ; Based on the error between the performance function and the system state in the performance-driven objective, a recursive relationship of the error variables is constructed; Based on the recursive relationship of the error variable, a new transformation variable is introduced; the new transformation variable is defined as the product of the system state and the coefficient matrix in the recursive relationship. Based on the new transformed variables and the system state and disturbance estimates output by the higher-order sliding mode observer, the final control law is constructed, and thus the asymmetric performance driven controller APDC is obtained.

[0011] Furthermore, the asymmetric performance drive controller APDC is represented as: ; In the formula, the coefficient matrix , It is a diagonal matrix. , , , It is a design variable. The coefficient matrix, Represents the system order. They are respectively The design parameters of the step are as follows: It is a system state estimate. It is an estimate of the disturbance.

[0012] The present invention also includes a performance-driven control system under asymmetric time-varying performance boundaries, comprising: The system construction module is used to establish a system state-space model with output feedback for a high-order uncertain nonlinear system containing unknown disturbances; it sets asymmetric upper and lower bound performance functions for the system, and constructs an asymmetric performance constraint interval with time-varying fluctuations based on the upper and lower bound performance functions. The observation module is used to construct a high-order sliding mode observer (HOSM) based on the system state-space model of the output feedback; the HOSM is used to observe the unknown state of the system and estimate the unknown disturbance. The controller construction module is used to construct an asymmetric performance driven controller (APDC) based on the observed system state and estimated disturbances. The control law of the APDC ensures that the system state is always constrained within the asymmetric performance constraint interval, and its convergence characteristics are directly driven by the upper bound performance function and the lower bound performance function. The control module is used to apply the control signal output by the APDC to a high-order uncertain nonlinear system containing unknown disturbances. When both the upper and lower bound performance functions converge asymptotically, the system output achieves asymptotically stable tracking under asymmetric time-varying performance boundary constraints.

[0013] The present invention also includes a performance-driven control computer device under asymmetric time-varying performance boundaries, comprising: a memory, a processor, and a computer program stored in the memory, wherein the processor executes the computer program to implement the steps of the performance-driven control method under asymmetric time-varying performance boundaries.

[0014] The present invention also includes a readable storage medium storing a computer program, the computer program including program instructions, which, when executed by a processor, are used to perform the steps of the performance-driven control method under the asymmetric time-varying performance boundary.

[0015] This invention provides a performance-driven control method under asymmetric time-varying performance boundaries, which has the following beneficial effects: This invention directly constructs error variables based on the upper and lower bounds of the performance function, without the need for complex function transformations. It can naturally adapt to the time-varying fluctuations of the performance boundary. As long as it satisfies the differentiability condition, it can ensure that the system state always operates strictly within the preset asymmetric envelope, greatly enhancing the robustness of the control system in complex and variable environments. At the same time, the integrated high-order sliding mode observer (HOSM) can accurately estimate the unknown internal state and external disturbances of the system and compensate for them in real time in the final control law. This active disturbance rejection capability enables this method to maintain high-precision tracking performance and constraint satisfaction capability when facing model uncertainties and unknown external disturbances. This method designs an asymmetric performance-driven control method for high-order, nonlinear, and perturbed output feedback systems, solving the preset performance control problem under asymmetric performance boundary function constraints, and realizing the convergence characteristics of asymmetric performance boundary function driven control, reducing control energy. Thus, the controller designed in the actual automatic control system can meet the preset performance indicators and ensure its control stability. Attached Figure Description

[0016] Figure 1 This is a schematic diagram of funnel control in the background art of the present invention; Figure 2 This is a schematic diagram of preset performance boundary control in the background technology of this invention; Figure 3 This illustrates the performance constraint principle between existing PPC methods and the method of this invention in the embodiments of this invention; Figure 4 This is a schematic diagram of the asymmetric and symmetric performance functions in an embodiment of the present invention; Figure 5 This is a flowchart of the performance-driven control method for a disturbed system under asymmetric boundaries in an embodiment of the present invention. Figure 6 This is a schematic diagram comparing system state changes in an embodiment of the present invention; Figure 7 This is a schematic diagram comparing changes in control input in an embodiment of the present invention. Detailed Implementation

[0017] The technical solutions of the present invention will be clearly and completely described below with reference to the accompanying drawings of the embodiments of the present invention. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments.

[0018] Existing preset performance control transforms the performance constraint problem of a given system state into a boundedness problem of new system variables, such as... Figure 3As shown in the left figure, when the error approaches the performance function, the control quantity tends to infinity, posing a risk of exceeding the performance boundary when the control input is limited. This invention forces the system state to remain within the envelope by keeping the upper / lower bound errors between the system state and the upper / lower performance boundary functions both greater than zero. Figure 3 As shown in the right figure, this allows for adaptation to asymmetric and fluctuating performance constraints.

[0019] For the following uncertain nonlinear system, the output information is known. Obtained through the observer The control objective is to design a controller that enables... On the asymmetric properties, lower boundary Remain calm under the constraints.

[0020] (1) in, First-order state variables; Second-order state variables; It is a coefficient matrix; For controller; For system output; It is the derivative of the first-order state quantity. It is the derivative of the second-order state quantity.

[0021] Existing asymmetric pre-defined performance control methods (APPC) require the design of a transformation function first. ,in Secondly, adopting the backstepping control concept, the second-order virtual control instruction is designed as follows: Finally, the controller was designed as follows: (2) in All of these are design parameters; These are first-order state variables; The derivative of the function with the upper bound is given. The derivative of the lower bound function; This is an estimate of the second-order state; Virtual instructions for second-order states; The derivative of the second-order state virtual instruction; It is a coefficient matrix. It is an upper bound function; It is a lower bound function.

[0022] The existing controller design methods described above have the following three drawbacks: First, for asymmetric performance boundary constraints, existing technologies must design a transformation function, which needs to be adjusted when the performance boundary function fluctuates. The design prevents the system state from exceeding performance boundaries. Secondly, the backstepping control design, when dealing with high-order systems, suffers from dimensionality explosion due to multiple rounds of solving for virtual control instructions, leading to control divergence. Finally, the stability of existing preset performance controls depends on the controller design itself and cannot flexibly meet the required system convergence characteristics.

[0023] This invention proposes a performance-driven control method under asymmetric time-varying performance boundaries, such as... Figure 5 As shown, a general definition of asymmetric performance functions is given, which includes both the asymmetric translation characteristics of traditional boundary functions and asymmetric wave characteristics. For high-order, nonlinear, and perturbation-driven output feedback systems, an asymmetric performance-driven control method is designed to solve the preset performance control problem under the constraints of asymmetric performance boundary functions, realize the convergence characteristics of asymmetric performance boundary function-driven control, and reduce control energy.

[0024] S1. For a high-order uncertain nonlinear system with unknown disturbances, establish a system state-space model with output feedback; set asymmetric upper and lower bound performance functions for the system respectively, and construct an asymmetric performance constraint interval with time-varying fluctuations based on the upper and lower bound performance functions.

[0025] For the following uncertain, nonlinear, high-order system with perturbations, the system state is: System output information , The coefficient matrix, For the controller that needs to be designed, For unknown disturbances T Represents matrix transpose, m Represents the dimension of the system state.

[0026] (3) in, For time; The derivative represents a state of arbitrary order; Represents a state of any order + 1; Represents the maximum order of the system; This is the system output coefficient matrix.

[0027] Given the control objective, design a performance-driven controller. This makes the system state Always in asymmetric intervals Furthermore, the system state convergence performance depends on the characteristics of the chosen performance function.

[0028] A general definition of an asymmetric performance function is given: Continuous and smooth upper and lower bound performance functions It is differentiable, where It is non-increasing. It is non-decreasing and satisfies the following properties: (4) Formula (4) represents at any time t Below, there are lower bound performance functions. and upper bound performance function Furthermore, the lower bound performance function has a limit as time approaches infinity. The limit of the upper bound function as time approaches infinity .

[0029] (5) Formula (5) represents the lower bound performance function value at the initial time. Limit when the performance function approaches infinity in time (less than the lower bound) And less than or equal to 0, the upper bound of the performance function value at the initial time. Limit when the performance function approaches infinity in time, greater than the upper bound And it is greater than or equal to 0.

[0030] The proposed asymmetric performance function Compared to traditional symmetric performance functions More generally, this is mainly reflected in the following two points: ① Unknown uncertainties exist during the system state stabilization process, causing time-varying fluctuations in performance functions. Therefore, these functions are not monotonically increasing or decreasing, for example... ( Figure 4 (a) is shown.

[0031] ② The trend changes and final values ​​of the lower and upper boundary functions of the proposed asymmetric performance function are completely different, and are not zero, for example... ( Figure 4 (b) is shown.

[0032] S2. Design a high-order sliding mode observer (HOSM) to observe unknown states and estimate unknown disturbances.

[0033] First, a dynamic auxiliary system is constructed based on the system model (3). To constrain observation errors and design Make For Hurwitz, the observation error dynamics model is established as follows: (6).

[0034] in, For auxiliary system state derivatives; To assist in the system status; For controller; It is a coefficient matrix; This is the system output coefficient matrix.

[0035] Then, for the matrix X， Define the null matrix relation Relationship with pseudo-inverse matrix A decoupling algorithm is proposed: The first step is to define two variables. M and J， Step 1 is represented as Recursively to the th step, Therefore, we can obtain the following algebraic expression:

[0036] (7) In the formula, the inverse differentiator is defined. ; Indicates the first k Step variable M , Represents the nullification matrix. Indicates the first k -1 step variable M , express k -1 step variable J , Indicates the first k -2-step variables J , Represents the identity matrix. represent k -1st degree differential, Representatives conduct time k -1st degree differential, right conduct k -1st inverse differential, express , express and Mutually nullable matrices express X The pseudo-inverse matrix, express X The transpose of .

[0037] The specific form of HOSM is given below: (8) in, For the observer state, Lipschitz constant and The observer gain coefficient, Let be the system order. The order of the observer; For the first The zero-dimensional observer state derivative, For the first Step The observer state derivative of dimension, For the first Step The observer state derivative of dimension, 0-dimensional Values, for Vie Values, for Vie Values, For the first The observer state of order 0. For the first Rank , For the first Step The observer state of the dimension, For the first Step The observer state of the dimension, For any order of the system and Let be the state of arbitrary dimension.

[0038] Finally, the observational forms of the unknown state and perturbations of each order can be obtained as follows: (9) (10) in, For the first The observer state of the order, Coefficient matrix B The nullification matrix, For the first The observer state of the order, These are the estimated values ​​for each order of perturbation.

[0039] S3. Based on the observed system state and estimated disturbance, construct an asymmetric performance-driven controller (APDC); wherein the control law of the APDC ensures that the system state is always constrained within the asymmetric performance constraint interval, and its convergence characteristics are directly driven by the upper bound performance function and the lower bound performance function.

[0040] First, the essence of performance-driven control is to pursue the error between the upper bound performance function and the system output state. The error between the lower bound performance function and the system output state Therefore, a recursive relationship can be designed. , The design parameters for each order can be generalized to any order as follows:

[0041] (11) (12) in, ; They are respectively The design parameters of the step are as follows: for m An identity matrix of dimension 1.

[0042] Further, there is a third n The dynamic model of the order is: (13) (14) In the formula, , , ; in, , For the upper boundary function n and n The -1st order derivative, whose superscript (·) represents derivatives of any order. The first derivative of the lower boundary function, For the lower boundary function n The first derivative, and so on.

[0043] Secondly, define a new variable. Then there is (15) in, .

[0044] Finally, the asymmetric performance drive controller based on HOSM is designed as follows: (16) In the formula, , It is a diagonal matrix. Assuming ,in and All are positive numbers. ,So Especially design variables The value of effectively guarantees Thus making ; , .

[0045] S4. When the control signal output by the APDC is applied to a high-order uncertain nonlinear system containing unknown disturbances, and both its upper and lower bound performance functions converge asymptotically, the system output is asymptotically stable under the constraints of asymmetric time-varying performance boundaries.

[0046] Theorem: Considering the uncertain nonlinear system equation (3), the proposed APDC controller equation (16) is adopted. If chosen... Make It holds true, where the constant is... Then the system state In performance function Asymptotic stability is achieved under the influence of [the technology / mechanism].

[0047] Based on the above, an embodiment of the method proposed in this invention is proposed: For the spacecraft attitude control problem, its attitude kinematics and dynamics model is transformed into equation (1), and combined with the state equation (9) observed by HOSM and the disturbance estimation equation (10), an APDC controller is designed: (16) Furthermore, automatic control systems such as industrial control, robotics, and aerospace vehicles often face the problem of difficult-to-measure system states and output feedback with disturbances. In particular, in real-world scenarios, preset performance requirements are affected by time-varying asymmetric fluctuations. The method proposed in this invention can better solve the existing problems and has broad application prospects.

[0048] This invention investigates the output tracking control problem of uncertain nonlinear systems under asymmetric preset performance conditions. Inspired by interval theory, an asymmetric performance-driven control scheme based on high-order sliding mode (HOSM) technology is proposed, which introduces a switching mechanism to ensure the preset performance of the tracking error. Unlike existing preset performance control methods, this scheme is applicable to asymmetric performance boundaries, even in the presence of time-varying fluctuations. The HOSM technology used enables the observation and compensation of unknown states and disturbances in the output tracking control problem, and compensates for them in the proposed asymmetric performance-driven control. A key feature of this scheme is that it drives system stability by selecting appropriate performance functions, independent of the form of the controller. The asymptotic stability of the system is proved using cooperative systems and Lyapunov theory.

[0049] The controller formula (2) of the existing asymmetric preset performance control method (APPC) and the controller formula (16) proposed in this invention (APDC) are compared through simulation. The system state changes (such as Figure 6 ) and control input changes (such as Figure 7It can be seen that the present invention can achieve two beneficial effects. First, under the constraint of an asymmetric performance boundary function with fluctuations, the system state can be stabilized within the boundary, achieving the same control effect as traditional preset performance control. Second, under the rapid drive of the performance function, the system state will converge quickly and approach the performance function on one side, while under the traditional method, the system state will slowly converge in the middle of the upper and lower performance function boundaries.

[0050] Based on the same inventive concept, this invention also proposes a performance-driven control system under asymmetric time-varying performance boundaries, comprising: The system construction module is used to establish a system state-space model with output feedback for a high-order uncertain nonlinear system containing unknown disturbances; it sets asymmetric upper and lower bound performance functions for the system, and constructs an asymmetric performance constraint interval with time-varying fluctuations based on the upper and lower bound performance functions. The observation module is used to construct a high-order sliding mode observer (HOSM) based on the system state-space model of the output feedback; the HOSM is used to observe the unknown state of the system and estimate the unknown disturbance. The controller construction module is used to construct an asymmetric performance driven controller (APDC) based on the observed system state and estimated disturbances. The control law of the APDC ensures that the system state is always constrained within the asymmetric performance constraint interval, and its convergence characteristics are directly driven by the upper bound performance function and the lower bound performance function. The control module is used to apply the control signal output by the APDC to a high-order uncertain nonlinear system containing unknown disturbances. When both the upper and lower bound performance functions converge asymptotically, the system output achieves asymptotically stable tracking under asymmetric time-varying performance boundary constraints.

[0051] The present invention also proposes a performance-driven control computer device under asymmetric time-varying performance boundaries, comprising: a memory, a processor, and a computer program stored in the memory, wherein the processor executes the computer program to implement the steps of the performance-driven control method under asymmetric time-varying performance boundaries.

[0052] The present invention also proposes a readable storage medium storing a computer program, the computer program including program instructions, which, when executed by a processor, are used to perform steps of a performance-driven control method under asymmetric time-varying performance boundaries.

[0053] The above description is only a preferred embodiment of the present invention, but the scope of protection of the present invention is not limited thereto. Any equivalent substitutions or modifications made by those skilled in the art within the scope of the technology disclosed in the present invention, based on the technical solution and inventive concept of the present invention, should be covered within the scope of protection of the present invention.

Claims

1. A performance driven control method under asymmetric time-varying performance bounds, characterized by, The method comprises the following steps: An output feedback system state space model is established for a high-order uncertain nonlinear system with unknown disturbances; An asymmetric upper bound performance function and a lower bound performance function are respectively set for the system, and an asymmetric performance constraint interval with time-varying fluctuations is constructed according to the upper bound performance function and the lower bound performance function; A high-order sliding mode observer (HOSM) is constructed based on the output feedback system state space model, and the HOSM is used to observe the unknown state of the system and estimate the unknown disturbance; An asymmetric performance driven controller (APDC) is constructed based on the observed system state and the estimated disturbance, and the control law of the APDC enables the system state to be always constrained in the asymmetric performance constraint interval, and the convergence characteristics of the APDC are directly driven by the upper bound performance function and the lower bound performance function; When the upper bound performance function and the lower bound performance function of the APDC are both asymptotically convergent, the system output is realized to be asymptotically stable in the asymmetric time-varying performance boundary constraint.

2. The performance driven control method under asymmetric time-varying performance bounds according to claim 1, characterized in that, The HOSM is constructed in the following steps: A dynamic auxiliary system is constructed to constrain the observation error, and a gain matrix is designed to make the system matrix of the observation error dynamics model Hurwitz; A decoupling algorithm is used to recursively construct the HOSM by defining the zeroization matrix relationship and the pseudo-inverse matrix relationship.

3. The performance driven control method under asymmetric time-varying performance bounds according to claim 1, characterized in that, The upper bound performance function is set to be a non-increasing function, and the lower bound performance function is set to be a non-decreasing function, and the following conditions are satisfied: At any time t a lower performance function and an upper performance function and the limit of the lower performance function as time tends to infinity the limit of the upper performance function as time tends to infinity is specifically expressed as: At any time t a lower performance function and an upper performance function and the limit of the lower performance function as time tends to infinity the limit of the upper performance function as time tends to infinity ; in particular, 。 4. The performance driven control method under asymmetric time-varying performance bounds according to claim 1, wherein, The APDC is constructed based on the observed system state and the estimated disturbance in the following steps: defining a performance driven objective; the performance driven objective satisfying: an upper bound performance function error between the system output state and a desired system output state , a lower bound performance function error between the system output state and a desired system output state ; A recursive relationship of an error variable is constructed according to the error between the performance function in the performance driven target and the system state; A new transformation variable is introduced based on the recursive relationship of the error variable, and the new transformation variable is defined as the product of the system state and the coefficient matrix in the recursive relationship; A final control law is constructed based on the new transformation variable, the system state and the disturbance estimation value output by the HOSM, and the APDC is obtained.

5. The performance driven control method under asymmetric time-varying performance bounds according to claim 1, characterized in that, The APDC is expressed as: ； where the coefficient matrix , is a diagonal matrix, , , , is a design variable, is a coefficient matrix, represents the system order, are design parameters of order, respectively, is a system state estimate, is an estimated disturbance.

6. A performance driven control system under an asymmetric time-varying performance boundary, comprising: A system construction module is configured to establish an output feedback system state space model for a high-order uncertain nonlinear system with unknown disturbances; An asymmetric upper bound performance function and a lower bound performance function are respectively set for the system, and an asymmetric performance constraint interval with time-varying fluctuations is constructed according to the upper bound performance function and the lower bound performance function; An observation module is configured to construct a high-order sliding mode observer (HOSM) based on the output feedback system state space model, and the HOSM is used to observe the unknown state of the system and estimate the unknown disturbance; a controller construction module for constructing an asymmetric performance driven controller (APDC) based on the observed system state and the estimated disturbance; wherein the control law of the APDC makes the system state always be constrained in the asymmetric performance constraint interval, and its convergence characteristic is directly driven by the upper bound performance function and the lower bound performance function; a control module for applying the control signal outputted by the APDC to the high-order uncertain nonlinear system containing unknown disturbance, so as to realize the asymptotic stable tracking of the system output under the asymmetric time-varying performance boundary constraint when the upper bound performance function and the lower bound performance function are both asymptotically convergent.

7. A performance driven control computer device under asymmetric time-varying performance bounds, characterized by, comprise: a memory, a processor and a computer program stored in the memory, wherein the processor implements the steps of the performance driven control method under the asymmetric time-varying performance boundary according to any one of claims 1-5 when executing the computer program.

8. A readable storage medium, characterized by, the readable storage medium stores a computer program, and the computer program comprises program instructions, wherein the program instructions are executed by a processor to perform the steps of the performance driven control method under the asymmetric time-varying performance boundary according to any one of claims 1-5.

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