Command-Filter-Based Predefined-Time Control for State-Constrained Nonlinear Systems Subject to Preassigned Performance Metrics

• 成果类型: Article
• 署名作者: Liu, Wei; Zhao, Huanyu; Shen, Hao; Xu, Shengyuan; Park, Ju H.
• 署名单位: Huaiyin Institute of Technology; Yeungnam University; Anhui University of Technology; Nanjing University of Science & Technology
• 刊物名称: IEEE TRANSACTIONS ON AUTOMATIC CONTROL
• ISSN/ISSBN: 0018-9286
• DOI: 10.1109/TAC.2024.3397468
• 发表日期: 2024
• 页码: 7801-7807
• 关键词: convergence; measurement; Backstepping; Nonlinear systems; control design; automation; Lyapunov methods; Command filter; preassigned performance control; predefined-time control; state constraints

摘要

This article tackles the predefined-time control problem for nonlinear systems subject to preassigned performance metrics (PPMs) and state constraints. To meet the PPMs and state constraints, the preassigned performance control-based barrier Lyapunov functions are designated to acquire the performance metrics and the satisfaction of state constraints. The proposed control approach combines the predefined-time control with the recursive design of command-filter backstepping to achieve the preset convergence time based on designing indicators while also ensuring the satisfaction of the desired PPMs and constraint conditions. In addition, the command-filter design eliminates the requirement of proving the continuity of high-order derivatives of the virtual control signals, resulting in a significant reduction in the complexity of stability analyses related to predefined-time convergence of the closed-loop signals. The stability analyses and simulation results of two examples provide support for the effectiveness and applicability of the proposed command-filter predefined-time control approach.