Non-Singular Fixed-Time Tracking Control of Uncertain Nonlinear Pure-Feedback Systems With Practical State Constraints

0575057 - ÚTIA 2024 RIV US eng J - Journal Article
Guo, Ch. - Hu, J. - Wu, Y. - Čelikovský, Sergej
Non-Singular Fixed-Time Tracking Control of Uncertain Nonlinear Pure-Feedback Systems With Practical State Constraints.
IEEE TRANSACTIONS ON CIRCUITS AND SYSTEMS I-REGULAR PAPERS. Roč. 70, č. 9 (2023), s. 3746-3758. ISSN 1549-8328. E-ISSN 1558-0806
R&D Projects: GA ČR(CZ) GA21-03689S
Institutional support: RVO:67985556
Keywords : Fixed-time tracking control * Nonlinear purefeedback system * State constraint * Nonlinear transformation function * Adding a power integrator technique.
OECD category: Automation and control systems
Impact factor: 5.1, year: 2022
Method of publishing: Limited access
http://library.utia.cas.cz/separaty/2023/TR/celikovsky-0575057.pdf https://ieeexplore.ieee.org/document/10189394

In this paper, a fixed-time tracking control problem is investigated for an uncertain high-order nonlinear purefeedback systems with practical state constraints. To this end, a new nonlinear transformation function with lower change rate at the state constraint boundary is first proposed, which can not only handle both constrained and unconstrained states in a unified way, but also reduce the control magnitude at the constraint boundary. With the help of the proposed transformation function, the original system is transformed to a new system without state constraints. Then, a non-singular fixed-time adaptive tracking controller is designed by applying an adding a power integrator technique and an adaptive neural network method. It is shown that the practical fixed-time stability can be guaranteed for the closed-loop system under the proposed tracking controller.
Finally, two numerical examples are presented to demonstrate the proposed fixed-time tracking control strategy.
Permanent Link: https://hdl.handle.net/11104/0344902