Loading…

Adaptive fuzzy prescribed time tracking control for nonlinear systems with input saturation

This article investigates the adaptive fuzzy prescribed time tracking control problem for a class of strict-feedback systems simultaneously considering the user-defined asymmetric tracking performance, input saturation, and external disturbances. From the perspective of ensuring the reliability for...

Full description

Saved in:
Bibliographic Details
Published in:ISA transactions 2023-12, Vol.143, p.370-384
Main Authors: Xie, Haixiu, Jing, Yuanwei, Dimirovski, Georgi M., Chen, Jiqing
Format: Article
Language:English
Subjects:
Citations: Items that this one cites
Items that cite this one
Online Access:Get full text
Tags: Add Tag
No Tags, Be the first to tag this record!
Description
Summary:This article investigates the adaptive fuzzy prescribed time tracking control problem for a class of strict-feedback systems simultaneously considering the user-defined asymmetric tracking performance, input saturation, and external disturbances. From the perspective of ensuring the reliability for control implementation, a saturation-based fixed-time funnel boundary is constructed by embedding the modification signals related to input saturation errors into a funnel function, which is capable of automatically enlarging or recovering itself when input saturation occurs or disappears, thereby reducing the risk of system singularity. Subsequently, by constructing a fixed-time tracking performance function, any known bounded tracking error is recast into a new variable with a zero initial value. With such a treatment, funnel boundaries are no longer redeveloped for different initial tracking errors, and meanwhile the behavior of the tracking error is pre-specified as needed over a finite time interval. Also, auxiliary systems are devised to generate the aforesaid modification signals, while compensating for the adverse impact resulting from input saturation. Remarkably, by feat of the backstepping design based on the fuzzy approximation, it is proven that the tracking error converges to a user-defined region within a prescribed time (known as the practically prescribed time tracking), which is achieved without the fractional power feedback of system states. Finally, two simulation examples are presented to confirm the feasibility and effectiveness of the developed approach. •A novel fixed-time tracking performance function is designed to relax the initial condition.•By a simple variable transformation, the asymmetric performance constraint is handled.•A new form of self-adjustable performance funnel is constructed to enhance the reliability of control designs.•A class of the practically prescribed time tracking problems is solved.
ISSN:0019-0578
1879-2022
DOI:10.1016/j.isatra.2023.09.015