Prescribed-Time Asymptotic Tracking Control of Strict Feedback Systems With Time-Varying Parameters and Unknown Control Direction

This paper considers the global prescribed-time asymptotic tracking control problem for uncertain strict feedback nonlinear systems with time-varying parameters and an unknown control direction. A novel prescribed-time scaling function is constructed, and the frequently used basic lemma on the Nussbaum function is modified to adapt to the situation where the initial value of the control coefficient is zero. With the help of the nonlinear mapping technique, the congelation of variables method and the backstepping method, an adaptive tracking control method is presented, which exhibits several attractive features: (1) all the closed-loop signals are bounded; (2) for any initial condition, the tracking error can be confined within a prescribed zone in a prescribed time; and (3) the asymptotic convergence of the tracking error is ensured. The effectiveness of the proposed control method is demonstrated by using two simulation examples.

[1]  Yang Shi,et al.  Fixed-Time Stabilization for Nonlinear Systems With Low-Order and High-Order Nonlinearities via Event-Triggered Control , 2022, IEEE Transactions on Circuits and Systems I: Regular Papers.

[2]  Mingrui Hao,et al.  Adaptive dynamic surface asymptotic tracking control of uncertain strict‐feedback systems with guaranteed transient performance and accurate parameter estimation , 2022, International Journal of Robust and Nonlinear Control.

[3]  Ye Cao,et al.  Practical prescribed time tracking control over infinite time interval involving mismatched uncertainties and non-vanishing disturbances , 2022, Autom..

[4]  Yuanxin Li,et al.  Command Filter Adaptive Asymptotic Tracking of Uncertain Nonlinear Systems With Time-Varying Parameters and Disturbances , 2021, IEEE Transactions on Automatic Control.

[5]  Alessandro Astolfi,et al.  Adaptive Control for Systems With Time-Varying Parameters , 2021, IEEE Transactions on Automatic Control.

[6]  Yongduan Song,et al.  Adaptive Asymptotic Tracking With Global Performance for Nonlinear Systems With Unknown Control Directions , 2021, IEEE Transactions on Automatic Control.

[7]  Mingrui Hao,et al.  Adaptive robust dynamic surface asymptotic tracking for uncertain strict-feedback nonlinear systems with unknown control direction. , 2021, ISA transactions.

[8]  Guang-Ren Duan,et al.  High-order fully actuated system approaches: Part IV. Adaptive control and high-order backstepping , 2021, Int. J. Syst. Sci..

[9]  Huanqing Wang,et al.  Adaptive Practical Fixed-Time Tracking Control With Prescribed Boundary Constraints , 2021, IEEE Transactions on Circuits and Systems I: Regular Papers.

[10]  Cheng-Chew Lim,et al.  Robust Formation Control for Multi-Agent Systems: A Reference Correction Based Approach , 2021, IEEE Transactions on Circuits and Systems I: Regular Papers.

[11]  Bin Zhou,et al.  Prescribed-Time Stabilization of a Class of Nonlinear Systems by Linear Time-Varying Feedback , 2021, IEEE Transactions on Automatic Control.

[12]  Yong Ma,et al.  Single-parameter-learning-based finite-time tracking control of underactuated MSVs under input saturation , 2020 .

[13]  Jinpeng Yu,et al.  Backstepping based adaptive finite-time tracking control of manipulator systems with uncertain parameters and unknown backlash , 2020, J. Frankl. Inst..

[14]  Fang Wang,et al.  Event-triggered adaptive finite-time tracking control for full state constraints nonlinear systems with parameter uncertainties and given transient performance. , 2020, ISA transactions.

[15]  Zongquan Deng,et al.  Adaptive NN-based finite-time tracking control for wheeled mobile robots with time-varying full state constraints , 2020, Neurocomputing.

[16]  Warren E. Dixon,et al.  Adaptive Control of Time-Varying Parameter Systems With Asymptotic Tracking , 2020, IEEE Transactions on Automatic Control.

[17]  Bin Liang,et al.  Adaptive Fault-Tolerant Prescribed-Time Control for Teleoperation Systems With Position Error Constraints , 2020, IEEE Transactions on Industrial Informatics.

[18]  Yuanqing Xia,et al.  Finite-Time Tracking Control for a Class of Uncertain Strict-Feedback Nonlinear Systems With State Constraints: A Smooth Control Approach , 2020, IEEE Transactions on Neural Networks and Learning Systems.

[19]  Anuradha M. Annaswamy,et al.  Parameter Estimation in Adaptive Control of Time-Varying Systems Under a Range of Excitation Conditions , 2019, IEEE Transactions on Automatic Control.

[20]  Yongduan Song,et al.  Regular error feedback based adaptive practical prescribed time tracking control of normal-form nonaffine systems , 2019, J. Frankl. Inst..

[21]  Jing Zhang,et al.  Finite-time tracking control for stochastic nonlinear systems with full state constraints , 2018, Appl. Math. Comput..

[22]  Yuanqing Xia,et al.  Finite-Time Tracking Control of Rigid Spacecraft Under Actuator Saturations and Faults , 2018, IEEE Transactions on Automation Science and Engineering.

[23]  Wei Wang,et al.  Adaptive control of a class of strict-feedback time-varying nonlinear systems with unknown control coefficients , 2018, Autom..

[24]  Meichen Guo,et al.  Adaptive nonlinear ship tracking control with unknown control direction , 2018 .

[25]  Jianbo Hu,et al.  Adaptive neural novel prescribed performance control for non-affine pure-feedback systems with input saturation , 2018 .

[26]  Changyun Wen,et al.  Global Exponential/Finite-Time Stability of Nonlinear Adaptive Switching Systems With Applications in Controlling Systems With Unknown Control Direction , 2018, IEEE Transactions on Automatic Control.

[27]  Xuehua Li,et al.  Adaptive finite-time tracking control of switched nonlinear systems , 2017, Inf. Sci..

[28]  Lei Guo,et al.  Adaptive cooperative tracking control for a class of nonlinear time-varying multi-agent systems , 2017, J. Frankl. Inst..

[29]  Charalampos P. Bechlioulis,et al.  A low-complexity global approximation-free control scheme with prescribed performance for unknown pure feedback systems , 2014, Autom..

[30]  Guangren Duan,et al.  Adaptive block dynamic surface control for integrated missile guidance and autopilot , 2013 .

[31]  Andrey Polyakov,et al.  Nonlinear Feedback Design for Fixed-Time Stabilization of Linear Control Systems , 2012, IEEE Transactions on Automatic Control.

[32]  Shihua Li,et al.  Finite-time consensus algorithm for multi-agent systems with double-integrator dynamics , 2011, Autom..

[33]  Wei Wang,et al.  Adaptive actuator failure compensation control of uncertain nonlinear systems with guaranteed transient performance , 2010, Autom..

[34]  Charalampos P. Bechlioulis,et al.  Robust Adaptive Control of Feedback Linearizable MIMO Nonlinear Systems With Prescribed Performance , 2008, IEEE Transactions on Automatic Control.

[35]  Naira Hovakimyan,et al.  adaptive controller for systems with unknown time-varying parameters and disturbances in the presence of non-zero trajectory initialization error , 2008, Int. J. Control.

[36]  Petros A. Ioannou,et al.  Adaptive control tutorial , 2006, Advances in design and control.

[37]  Jie Huang,et al.  Global Robust Stabilization of Cascade-Connected Systems With Dynamic Uncertainties Without Knowing the Control Direction , 2006, IEEE Transactions on Automatic Control.

[38]  Riccardo Marino,et al.  Adaptive control of linear time-varying systems , 2003, Autom..

[39]  Riccardo Marino,et al.  An adaptive output feedback control for a class of nonlinear systems with time-varying parameters , 1999, IEEE Trans. Autom. Control..

[40]  X. Ye,et al.  Adaptive nonlinear design without a priori knowledge of control directions , 1998, IEEE Trans. Autom. Control..

[41]  Guang-Hong Yang,et al.  Robust Adaptive Fault-Tolerant Control for a Class of Unknown Nonlinear Systems , 2017, IEEE Transactions on Industrial Electronics.