Many important engineering applications involve control design for Euler–Lagrange (EL) systems. In this article, the practical prescribed time tracking control problem of EL systems is investigated under partial or full state constraints. A settling time regulator is introduced to construct a novel performance function, with which a new neural adaptive control scheme is developed to achieve pregiven tracking precision within the prescribed time. With the specific system transformation techniques, the problem of state constraints is transformed into the boundedness of new variables. The salient feature of the proposed control methods lies in the fact that not only the settling time and tracking precision are at the user’s disposal but also both partial state and full state constraints can be accommodated concurrently without the need for changing the control structure. The effectiveness of this approach is further verified by the simulation results.

中文翻译：

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具有部分/完全状态约束的欧拉格朗日系统的实用规定时间控制：基于稳定时间调节器的方法


许多重要的工程应用涉及欧拉-拉格朗日 (EL) 系统的控制设计。在本文中，研究了部分或完全状态约束下的 EL 系统的实际规定时间跟踪控制问题。引入稳定时间调节器来构建新的性能函数，并开发新的神经自适应控制方案以在规定时间内实现预定的跟踪精度。通过特定的系统变换技术，将状态约束问题转化为新变量的有界性问题。所提出的控制方法的显着特征在于，不仅稳定时间和跟踪精度可供用户支配，而且可以同时适应部分状态和全状态约束，而无需改变控制结构。仿真结果进一步验证了该方法的有效性。