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predefined-time control for Multi-Agent Systems With Input Saturation: An Improved Dynamic Surface control Scheme

IEEE TRANSACTIONS ON AUTOMATION SCIENCE AND ENGINEERING 2025年 22卷 3661-3670页

作者： Ma, Jiawei Zhang, Huaguang Zhang, Juan Guo, Xiyue Northeastern Univ Coll Informat Sci & Engn Shenyang 110004 Peoples R China Northeastern Univ State Key Lab Synthet Automat Proc Ind Shenyang 110004 Peoples R China Northeastern Univ Sch Informat Sci & Engn Shenyang 110004 Peoples R China

This paper researches the predefined-time fuzzy adaptive dynamics surface consensus control problem for nonlinear multi-agent systems with input saturation. With regard to nonlinear functions existing in the control systems, fuzzy logic system is employed to estimated them. A novel improved predefined-time dynamics surface filter is designed that can avoid the explosion of complexity problem, and the proposed filter satisfies predefined-time stable simultaneously. With the support of piecewise function, the singularity problem that may exist in virtual controller can be dodged greatly. Furthermore, a ameliorative predefined-time auxiliary dynamic system is presented to cope with input saturation. Combining adaptive backstepping control and predefined-time theory, a predefined-time adaptive fuzzy dynamics surface controller is presented that can assure the systems are predefined-time bounded, though the followers exists in the control saturation. Note to Practitioners-Numerous actual physical systems and devices can be modeled as uncertain nonlinear MAS. Furthermore, MAS also can be widely applied to disaster relief, spacecraft and multitudinous fields. On the one hand, the practical systems may exist in input saturation phenomenon due to human factors and in most of the relevant literatures, which can affect the system performance or bring about instability. On the other hand, the initial values of actual systems usually cannot be chosen freely because of the influence of environment and other factors. In addition, it is currently ordinarily supposed that realize the stabilization of controlled systems when time approaches infinity. Consequently, a predefined-time adaptive fuzzy controller is presented for MAS with control saturation, which can achieve the predefined-time stabilization of MAS.

关键词： predefined-time control topology directed graph dynamics surface multi-agent systems input saturation

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predefined-time control design for tracking chaotic trajectories around a contour with an UAV

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EXPERT SYSTEMS WITH APPLICATIONS 2024年 250卷

作者： Diaz-Munoz, Jonathan Daniel Martinez-Fuentes, Oscar Cruz-Vega, Israel INAOE Dept Elect Luis Enrique Erro 1 Cholula 72840 Puebla Mexico

The surveillance or monitoring of places is crucial to ensuring security, protecting people and assets, preventing crimes, and detecting emergencies, to mention some. Unmanned Aerial Vehicles (UAVs) play a vital role in these applications, offering versatility, agility, and aerial vision. A crucial step for such tasks is to protect the UAV path ahead. This paper focuses on a methodology harnessing the unpredictable nature of chaotic systems to generate trajectories around a closed area or contour. However, although a vast quantity of research papers mention the use of chaotic path generation, they have yet to learn about the control system and the dynamics affecting the UAV, where developing the control theory is challenging. In this paper, we design controllers based on predetermined-time stability, ensuring the achievement of the desired trajectory before a specified time. Additionally, adjusting control parameters is a crucial step during the control design, impacting the control performance. Hence, we present a method to optimize and adapt controller parameters through evolutionary optimization, demonstrating precision enhancement. We validate the proposed system's performance and the controllers through numerical simulations, indicating that the UAV effectively and accurately follows some types of chaotic trajectories like a square contour, aiming at the feasibility of this methodology in real UAV surveillance applications.

关键词： predefined-time control UAV Chaotic trajectories Contour surveillance Optimization control predefined-time stability

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predefined-time control for Euler-Lagrange systems with model uncertainties and actuator faults

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ASIAN JOURNAL OF control 2023年第2期25卷 1591-1605页

作者： Wang, Wencong Hou, Mingshan Feng, Dan Liu, Bojun Northwestern Polytech Univ Sch Automat Xian Peoples R China Xian Univ Technol Shaanxi Key Lab Complex Syst Control & Intelligen Xian 710048 Peoples R China

A novel adaptive predefined-time tracking control algorithm is proposed for the Euler-Lagrange systems (ELSs) with model uncertainties and actuator faults. Compared with traditional finite-time and fixed-time studies, the system output tracking error under the proposed predefined-time controller converges to a small neighborhood of zero in finite time, whose upper bound is exactly a design parameter in the control algorithm. For the uncertain model, radial-based function neural network (RBFNN) is utilized to approximate the continuous uncertain dynamics. To deal with the actuator faults, an adaptive control law is involved in the fault-tolerant controller. In order to achieve the predefined-time bounded, a novel predefined-time sliding mode surface is designed. It is proved that the tracking error vector trajectory of closed-loop system is semi-globally uniformly ultimately predefined-time bounded, and the upper bounds of both the system settling time and the corresponding output tracking error can be adjusted with a simple parameter. Simulation examples finally demonstrate the effectiveness of the proposed control algorithm.

关键词： Euler-Lagrange systems fault-tolerant control predefined-time control sliding mode control

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predefined-time control of Robot Systems with Prescribed Performance Guarantees 20th

Predefined-Time Control of Robot Systems with Prescribed Per...

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20th Chinese Intelligent Systems Conference

作者： Zhang, Jianjun Han, Pengyang Song, Yunzhong Henan Polytech Univ Sch Elect Engn & Automat Jiaozuo 454000 Henan Peoples R China

ISBN: (纸本)9789819786565;9789819786541;9789819786534

This article investigates the problem of predefined time prescribed performance tracking control for robotic manipulators, considering bounded external disturbances and unknown input saturation. At first, a Gaussian error function is utilized as a replacement for non-smooth unknown input saturation. Then, a predefined-time performance function is designed to achieve the predefined convergence. Based on this foundation, a controller is developed utilizing a predefined-time terminal sliding surface. The position tracking error exhibits globally predefined time convergence and prescribed transient steady state performance. Stability analysis of the designed controller is conducted utilizing the Lyapunov method. Finally, numerical simulations are employed to verify the effectiveness and superiority of the proposed scheme.

关键词： Prescribed performance control predefined-time control Terminal sliding mode control

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Finite-gain based adaptive predefined-time control for a class of strict-feedback systems subject to output constraints☆

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AUTOMATICA 2025年 173卷

作者： Yang, Huanyu Wang, Yujuan Song, Yongduan Shao, Zhuwu Chongqing Univ State Key Lab Power Transmiss Equipment & Syst Sec Chongqing 400044 Peoples R China Chongqing Univ Sch Automat Chongqing 400044 Peoples R China

This paper investigates the predefined-time control problem for a class of nonlinear systems subject to unmatched parametric uncertainties and asymmetric output constraints. A finite-gain based adaptive control scheme is proposed, with which the system is regulated to the equilibrium within the prescribed finite time and the asymmetric constraint requirements on the output are not violated during operation. This is achieved mainly by establishing a new predefined-time stability lemma, which allows the technical difficulty arising from the finite gain based predefined-time controller design and stability analysis to be overcome. In addition, a new universal barrier function is employed to address anticipated constraint requirements on the system output, which enables the performance boundary to be uniform with respect to the initial condition. Two simulation examples are given to confirm the effectiveness of the proposed control scheme. (c) 2024 Published by Elsevier Ltd.

关键词： predefined-time control Adaptive control Finite time-varying gain Output constraint Strict-feedback systems

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Adaptive global predefined-time control of robotic systems with output constraints via multiple multidimensional Taylor network

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ISA TRANSACTIONS 2025年 158卷 468-476页

作者： He, Wenjing Han, Yuqun Shi, Yukun Wang, Youqing Beijing Univ Chem Technol State Key Lab Chem Resource Engn Beijing 100029 Peoples R China Beijing Univ Chem Technol Coll Informat Sci & Technol Beijing 100029 Peoples R China Qingdao Univ Sci & Technol Sch Math & Phys Qingdao 266061 Peoples R China

Adaptive global predefined-time control is examined for the n-link robotic system, which involves output constraints. The primary challenge in designing the controller is not only to guarantee that the output constraints are never violated, but also to achieve global convergence of the tracking error within a predefined time. First, a barrier function is introduced to transform the output constrained system into an unconstrained system. Then, the command filtering technique is incorporated into the adaptive multiple multidimensional Taylor network (MMTN) control process. Furthermore, a compensation system is constructed to alleviate for errors arising from filtering. Notably, the designed multi-switching-based adaptive MMTN controller realizes the global stability of robotic systems. Finally, a two-link robotic system simulation is presented to demonstrate the feasibility of the proposed control strategy.

关键词： Multiple multidimensional Taylor network Adaptive control predefined-time control Global control Output constraints Robotic systems

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Event-triggered predefined-time control for full-state constrained nonlinear systems: A novel command filtering error compensation method

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Science China(Technological Sciences) 2024年第9期67卷 2867-2880页

作者： PAN YingNan CHEN YiLin LIANG HongJing College of Control Science and Engineering Bohai UniversityJinzhou 121013China School of Automation Engineering University of Electronic Science and Technology of ChinaChengdu 611731China Laboratory of Electromagnetic Space Cognition and Intelligent Control Beijing 100089China

In this paper, a command filter-based adaptive fuzzy predefined-time event-triggered tracking control problem is investigated for uncertain nonlinear systems with time-varying full-state constraints. By designing a sliding mode differentiator, the inherent computational complexity problem within the predefined-time backstepping framework is solved. Different from the existing command filter-based finite-time and fixed-time control strategies that the convergence time of the filtering error is adjusted through the system initial value or numerous parameters, a novel command filtering error compensation method is presented,which tunes one control parameter to make the filtering error converge in the predefined time, thereby reducing the complexity of design and analysis of processing the filtering error. Then, an improved event-triggered mechanism(ETM) that builds upon the switching threshold strategy, in which an inverse cotangent function is designed to replace the residual term of the ETM,is proposed to gradually release the controller's dependence on the residual term with increasing time. Furthermore, a tan-type nonlinear mapping technique is applied to tackle the time-varying full-state constraints problem. By the predefined-time stability theory, all signals in the uncertain nonlinear systems exhibit predefined-time stability. Finally, the feasibility of the proposed algorithm is substantiated through two simulation results.

关键词： predefined-time control command filtering error compensation method event-triggered mechanism time-varying full-state constraints uncertain nonlinear systems

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Fuzzy Fault-Tolerant predefined-time control for Switched Systems: A Singularity-Free Method

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IEEE TRANSACTIONS ON FUZZY SYSTEMS 2024年第3期32卷 1223-1232页

作者： Cui, Di Chadli, Mohammed Xiang, Zhengrong Nanjing Univ Sci & Technol Sch Automat Nanjing 210094 Peoples R China Univ Paris Saclay Univ Evry IBISC F-91020 Evry France

The subject of this study is fuzzy predefined-time control for a class of switched nonlinear systems with multiple faults. In comparison to existing research on predefined-time control, this study delves into the realm of switched nonlinear systems, encompassing switched linear sensor faults and switched nonaffine faults. The difficulty in the controller design lies in following the backstepping technique, as taking the derivative of fractional power virtual control laws would trigger singularity issues at equilibrium states or coordinate transformation origins. The study utilizes the unique characteristics of switching and fuzzy logic systems to introduce a continuous piecewise predefined-time controller with a fault-tolerant compensation mechanism to avoid singularity problems. By adjusting a predefined parameter in the developed controller, the system could achieve the objectives of adaptive stability and adaptive tracking within a predefined time, as desired by the user. Moreover, the application of the proposed algorithm to practical systems is presented.

关键词： Switches control systems Nonlinear systems Circuit faults Fuzzy logic Convergence Switching circuits Adaptive fuzzy control nonaffine faults predefined-time control sensor faults switched nonlinear systems

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Disturbance Estimation and predefined-time control Approach to Formation of Multi-Spacecraft Systems

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SENSORS 2024年第17期24卷 5671页

作者： Zhang, Zhicheng Bao, Weimin Hou, Qimin Ju, Yinhao Gao, Yabin Peking Univ Coll Engn Beijing 100871 Peoples R China China Acad Aerosp Sci & Innovat Beijing 100871 Peoples R China Xidian Univ Sch Aerosp Sci & Technol Xian 710071 Peoples R China Harbin Inst Technol Sch Astronaut Harbin 150001 Peoples R China

Accurate sensing and control are important for high-performance formation control of spacecraft systems. This paper presents a strategy of disturbance estimation and distributed predefined-time control for the formation of multi-spacecraft systems with uncertainties based on a disturbance observer. The process begins by formulating a kinematics model for the relative motion of spacecraft, with the formation's communication topology represented by a directed graph for the formation system of the spacecraft. A disturbance observer is then developed to estimate the disturbances, and the estimation errors can be convergent in fixed time. Following this, a disturbance-estimation-based sliding mode control is proposed to guarantee the predefined-time convergence of the multi-spacecraft formation system, regardless of initial conditions. It allows each spacecraft to reach its desired position within a set time frame. The results of the analysis of the multi-spacecraft formation system are also provided. Finally, an example simulation of a five-spacecraft formation flying system is provided to demonstrate the presented formation control method.

关键词： spacecraft formation predefined-time control sliding mode control disturbance observer fixed-time convergence

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Adaptive Practical predefined-time control for Uncertain Teleoperation Systems With Input Saturation and Output Error Constraints

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IEEE TRANSACTIONS ON INDUSTRIAL ELECTRONICS 2024年第2期71卷 1842-1852页

作者： Li, Longnan Liu, Zhengxiong Guo, Shaofan Ma, Zhiqiang Huang, Panfeng Northwestern Polytech Univ Sch Astronaut Natl Key Lab Aerosp Flight Dynam Xian 710072 Peoples R China Northwestern Polytech Univ Res Ctr Intelligent Robot Sch Astronaut Xian 710072 Peoples R China

In this article, the synchronization tracking control issue is investigated for uncertain teleoperation systems with input saturation and output error constraints. To this end, an adaptive practical predefined-time control scheme integrating backstepping recursive design, predefined time theory, prescribed performance function, and the antisaturation auxiliary system is developed for the first time. A fixed-time extended state observer is utilized to eliminate the negative influence of the lumped uncertainty, and the antisaturation auxiliary system is constructed to address the input saturation. In contrast to finite/fixed-time controllers, the upper bound of the convergence time can be obtained in advance by adjusting a single control parameter. The results indicate that the error signals can converge into a small region of the zero domain within a user-defined time and that the output error never violates the prescribed performance boundary. Simulations and experiments are performed on a teleoperation platform made up of two Phantom Touch robots to verify the effectiveness and practicality of the developed controller.

关键词： Convergence Robots Uncertainty Torque Adaptive systems Transient analysis Task analysis Input saturation output error constraints predefined-time control teleoperation

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