In this article, an adaptive fuzzy predefined time and accuracy tracking control scheme is proposed for strict-feedback nonlinear systems. A sufficient condition that can be used to determine whether the tracking error converges to a predefined region within a predefined time is first derived based on the definition of predefined time stability. Under the proposed stability criterion, an adaptive fuzzy controller is developed by applying the backstepping technique, and the stability time and convergence accuracy of the tracking error can be set previously, which facilitates the engineering application with requirements for convergence time and accuracy. Especially, to reduce chattering and decrease energy consumptions on the premise of ensuring the stability of the system, an inequality is introduced to construct a continuous term which can replace the sign function. Finally, a practical example is presented to illustrate the feasibility of main results.

中文翻译：

---

具有预定时间和精度的非线性系统的自适应模糊控制


在本文中，提出了一种针对严格反馈非线性系统的自适应模糊预定义时间和精度跟踪控制方案。首先根据预定义时间稳定性的定义导出可用于判断跟踪误差是否在预定义时间内收敛到预定义区域的充分条件。在所提出的稳定性准则下，应用反步技术开发了自适应模糊控制器，跟踪误差的稳定时间和收敛精度可预先设定，方便了对收敛时间和精度有要求的工程应用。特别是为了在保证系统稳定性的前提下减少抖振、降低能耗，引入不等式构造连续项来代替符号函数。最后通过实例说明主要结果的可行性。