Command Filter-Based Predefined Time Adaptive Control for Nonlinear Systems

• 成果类型: Article
• 署名作者: Sui, Shuai; Chen, C. L. Philip; Tong, Shaocheng
• 署名单位: Liaoning University of Technology; South China University of Technology
• 刊物名称: IEEE TRANSACTIONS ON AUTOMATIC CONTROL
• ISSN/ISSBN: 0018-9286
• DOI: 10.1109/TAC.2024.3399998
• 发表日期: 2024
• 页码: 7863-7870
• 关键词: Control systems; Backstepping; Nonlinear systems; control design; CONVERGENCE; Stability criteria; uncertain systems; Adaptive tracking control; predefined time control; predefined time filter

摘要

In this article, we study the predefined-time adaptive control problem for a class of strict-feedback nonlinear systems with parametric uncertainties and disturbances. A new practical predefined time stable (PPTS) criterion is first presented as the theoretical basis of predefined time control design, and then a new nonlinear command filter is designed. Based on the established PPTS criterion and backstepping control design technique, a command filter-based predefined time adaptive backstepping control scheme is developed. The proposed control method can guarantee the control system to be PPTS and the tracking error converges to a small neighborhood around zero. Moreover, it can overcome the computational complexity and control singular problems. Finally, the simulation and comparisons are provided to verify the predefined time control performance.