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Removing feasibility conditions on practical preassigned finite-time tracking for state-constrained high-order nonlinear systems
International Journal of Control ( IF 2.1 ) Pub Date : 2020-07-28 , DOI: 10.1080/00207179.2020.1798026
Ruiming Xie 1 , You Wu 2 , Xue-Jun Xie 2
Affiliation  

This paper investigates practical preassigned finite-time tracking control for state-constrained high-order nonlinear systems. Fuzzy systems are utilised to remove frequently used growth assumptions on completely unknown nonlinearities. By integrating nonlinear transformed functions with a key coordinate transformation into control design, full-state constraints can be handled without imposing feasibility conditions in traditional barrier Lyapunov function-based control methods. It is rigorously proved that the states of fuzzy systems remain within a specific compact set, on which fuzzy approximation is valid. Besides, asymmetric full-state constraints aren't violated for all time, and the tracking error converges to the prescribed small region around zero in a preassigned finite-time. Two simulation examples show the effectiveness and advantages of this control scheme.



中文翻译:

去除状态约束高阶非线性系统实际预分配有限时间跟踪的可行性条件

本文研究了状态约束高阶非线性系统的实际预分配有限时间跟踪控制。模糊系统用于消除对完全未知非线性的常用增长假设。通过将非线性变换函数与关键坐标变换集成到控制设计中,可以处理全状态约束,而无需在传统的基于障碍 Lyapunov 函数的控制方法中施加可行性条件。严格证明,模糊系统的状态保持在一个特定的紧集内,在该紧集上模糊逼近是有效的。此外,非对称全状态约束不会一直被违反,并且跟踪误差会在预先指定的有限时间内收敛到零附近的规定小区域。

更新日期:2020-07-28
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