Command filter‐based adaptive prescribed performance tracking control for uncertain pure‐feedback nonlinear systems with full‐state time‐varying constraints

2021 ◽  
Author(s):  
Xinfeng Zhu ◽  
Wenwu Ding ◽  
Tianping Zhang
Keyword(s):  
Nonlinear Systems ◽  
Tracking Control ◽  
Time Varying ◽  
Prescribed Performance ◽  
State Time ◽  
Performance Tracking ◽  
Full State ◽  
Command Filter

scholarly journals Finite-Time Tracking Control for Nonstrict-Feedback State-Delayed Nonlinear Systems with Full-State Constraints and Unmodeled Dynamics

Complexity ◽  
2020 ◽  
Vol 2020 ◽  
pp. 1-18
Author(s):  
Yangang Yao ◽  
Jieqing Tan ◽  
Jian Wu
Keyword(s):  
Nonlinear Systems ◽  
Finite Time ◽  
Tracking Control ◽  
State Constraints ◽  
Unmodeled Dynamics ◽  
Time Varying ◽  
Cubic Form ◽  
Time Control ◽  
Full State ◽  
Full State Constraints

The problem of finite-time tracking control is discussed for a class of uncertain nonstrict-feedback time-varying state delay nonlinear systems with full-state constraints and unmodeled dynamics. Different from traditional finite-control methods, a C 1 smooth finite-time adaptive control framework is introduced by employing a smooth switch between the fractional and cubic form state feedback, so that the desired fast finite-time control performance can be guaranteed. By constructing appropriate Lyapunov-Krasovskii functionals, the uncertain terms produced by time-varying state delays are compensated for and unmodeled dynamics is coped with by introducing a dynamical signal. In order to avoid the inherent problem of “complexity of explosion” in the backstepping-design process, the DSC technology with a novel nonlinear filter is introduced to simplify the structure of the controller. Furthermore, the results show that all the internal error signals are driven to converge into small regions in a finite time, and the full-state constraints are not violated. Simulation results verify the effectiveness of the proposed method.

Adaptive prescribed performance tracking control for strict‐feedback nonlinear systems with zero dynamics

2019 ◽  
Vol 29 (18) ◽  
pp. 6507-6521 ◽  
Author(s):  
Cungen Liu ◽  
Huanqing Wang ◽  
Xiaoping Liu ◽  
Yucheng Zhou ◽  
Shouyin Lu
Keyword(s):  
Nonlinear Systems ◽  
Tracking Control ◽  
Zero Dynamics ◽  
Prescribed Performance ◽  
Performance Tracking ◽  
Strict Feedback

Command filtered robust control of nonlinear systems with full-state time-varying constraints and disturbances rejection

2020 ◽  
Vol 101 (4) ◽  
pp. 2325-2342 ◽  
Author(s):  
Guichao Yang ◽  
Hua Wang ◽  
Jie Chen ◽  
Hao Zhang
Keyword(s):  
Robust Control ◽  
Nonlinear Systems ◽  
Time Varying ◽  
State Time ◽  
Full State

scholarly journals Prescribed Performance Tracking Control for High-Order Uncertain Nonlinear Systems

2022 ◽  
Author(s):  
Jiling Ding ◽  
Weihai Zhang
Keyword(s):  
Nonlinear Systems ◽  
Tracking Control ◽  
State Feedback ◽  
Low Complexity ◽  
High Order ◽  
State Feedback Control ◽  
Uncertain Nonlinear Systems ◽  
Prescribed Performance ◽  
Approximation Techniques ◽  
Performance Tracking

Abstract This paper considers the prescribed performance tracking control for high-order uncertain nonlinear systems. For any initial system condition, a state feedback control is designed, which guarantees the prescribed tracking performance and the boundedness of closed-loop signals. The proposed controller can be implemented without using any approximation techniques for estimating unknown nonlinearities. In this respect, a significant advantage of this article is that the explosion of complexity is avoided, which is raised by backstepping-like approaches that are typically employed to the control of uncertain nonlinear systems, and a low-complexity controller is achieved. Moreover, contrary to the existing results in existing literature, the restrictions on powers of high-order nonlinear systems are relaxed to make the considered problem having stronger theoretical and practical values. The effectiveness of the proposed scheme is verified by some simulation results.

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