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predefined-time Adaptive Fuzzy Bipartite Consensus control for Multiquadrotors Under Malicious Attacks

IEEE TRANSACTIONS ON FUZZY SYSTEMS 2024年第4期32卷 2187-2197页

作者： Cui, Guozeng Xu, Hui Xu, Shengyuan Gu, Juping Suzhou Univ Sci & Technol Sch Elect & Informat Engn Suzhou 215009 Peoples R China Nanjing Univ Sci & Technol Sch Automat Nanjing 210094 Peoples R China

This article focuses on the predefined-time adaptive fuzzy bipartite consensus control problem for multiquadrotors (MQs) under malicious attacks. The unknown nonlinear dynamics of MQs are effectively identified via the approximation capability of fuzzy logic systems. By integrating the command filter and the error compensation mechanism into the backstepping design procedure, the "explosion of complexity" issue and the effect of filtered error are concurrently eliminated. Additionally, the problem of singularity is skillfully surmounted by the feature of hyperbolic tangent functions and L'Hospital's rule. To deal with unknown malicious attacks, the quadratic-fraction actual controllers for MQs are devised based on the adaptive technique, where the lower bounds of attack signals are not required. It is proven that the closed-loop system is practically predefined-time stable, and the bipartite consensus errors converge into a small neighborhood of the origin within a predefined time. A simulation example is conducted to verify the effectiveness and superiority of the developed predefined-time control strategy.

关键词： Adaptive fuzzy control command filter malicious attacks multiquadrotors (MQs) predefined-time control

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Anti-unwinding attitude maneuver control with predefined time for rigid spacecraft with input saturation

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INTERNATIONAL JOURNAL OF ROBUST AND NONLINEAR control 2024年第13期34卷 8919-8944页

作者： Xu, Yu-Tian Wu, Ai-Guo Dong, Rui-Qi Harbin Inst Technol Shenzhen Guangdong Prov Key Lab Intelligent Morphing Mech & Shenzhen Peoples R China Harbin Inst Technol Shenzhen Dept Automat Shenzhen 518055 Peoples R China Southern Univ Sci & Technol Sch Syst Design & Intelligent Mfg Shenzhen Peoples R China Tsinghua Univ Dept Precis Instrument Beijing Peoples R China

In this article, anti-unwinding sliding mode attitude maneuver control with predefined time is investigated for rigid spacecraft with input saturation. First, a nonsingular sliding function containing two equilibrium points is designed to ensure the predefined-time convergence of system states and unwinding-free performance of the closed-loop system on the sliding phase. Then, an auxiliary system with a dynamic parameter is presented to compensate the impact of input saturation. With this parameter, the auxiliary system can handle input saturation that occurs. Based on the sliding function and the auxiliary system, an attitude maneuver controller is developed to guarantee the robustness of the closed-loop system to bounded external disturbance. Under the designed controller, the states of the closed-loop system are driven into a neighborhood of the sliding surface within a predefined time. Moreover, the unwinding phenomenon is also avoided on the reaching phase. Numerical simulation results illustrate the unwinding-free performance and predefined-time convergence of the closed-loop system under the proposed control strategy.

关键词： attitude maneuver input saturation predefined-time control sliding mode control

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Adaptive PD sliding mode control for robot dynamics using predefined-time approach

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INTERNATIONAL JOURNAL OF DYNAMICS AND control 2025年第3期13卷 1-14页

作者： Ahmed, Saim Azar, Ahmad Taher Prince Sultan Univ Coll Comp & Informat Sci Riyadh Saudi Arabia Prince Sultan Univ Automated Syst & Soft Comp Lab ASSCL Riyadh 11586 Saudi Arabia Benha Univ Fac Comp & Artificial Intelligence Banha 13518 Egypt

This study investigates adaptive predefined-time proportional-derivative terminal sliding mode control (APtPDSMC) for robotic manipulators subject to uncertainties and external disturbances. We propose a novel predefined-time PDSMC (PtPDSMC) scheme utilizing proportional-derivative control to achieve guaranteed predefined-time convergence and superior tracking performance. Additionally, this approach reduces control input chattering, a common problem. Then, APtPDSMC is designed to not require previous knowledge of the boundaries of the uncertain system dynamics it estimates. By using the Lyapunov theorem, the predefined-time stability of the closed-loop system is established. Finally, the efficacy of the suggested APtPDSMC technique is confirmed by computer simulations applied to a robotic manipulator system.

关键词： predefined-time control Proportional-derivative SMC scheme Robotic manipulator

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Distributed predefined-time robust adaptive control design for attitude consensus of multiple spacecraft

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ADVANCES IN SPACE RESEARCH 2025年第10期75卷 7473-7486页

作者： Yao, Qijia Li, Qing Xie, Shumin Jahanshahi, Hadi Univ Sci & Technol Beijing Sch Automat & Elect Engn Beijing 100083 Peoples R China Univ Sci & Technol Beijing Minist Educ Key Lab Knowledge Automat Ind Proc Beijing 100083 Peoples R China Northwestern Polytech Univ Sch Mech Civil Engn & Architecture Xian 710072 Peoples R China Inst Elect & Elect Engineers Toronto ON M5V 3T9 Canada

This article investigates the distributed predefined-time attitude consensus of multiple rigid spacecraft under inertia uncertainties and external perturbations over directed communication topology. First, a distributed predefined-time observer is constructed for each follower spacecraft to estimate the virtual leader's attitude, velocity, and acceleration. Then, based on the recovered information, a predefined-time nonsingular terminal sliding mode (NTSM) controller is developed for each follower spacecraft to fulfill the local attitude and velocity tracking. The predefined-time NTSM controller is strongly robust against uncertainties and perturbations but owns the undesirable chattering phenomena. To overcome such problem, an adaptive version of the predefined-time NTSM controller is carried out by incorporating with the parametric adaptation mechanism to identify the total disturbance. In this manner, the predefined-time adaptive NTSM controller has no chattering phenomenon and can maintain the high tracking accuracy simultaneously. Lastly, comparative simulations verify and highlight the main results. (c) 2025 COSPAR. Published by Elsevier B.V. All rights are reserved, including those for text and data mining, AI training, and similar technologies.

关键词： Attitude consensus Multiple spacecraft predefined-time control Nonsingular termina l sliding mode control Adaptive control

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predefined-time Robust Kinematic control of Redundant Manipulators

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IEEE TRANSACTIONS ON INDUSTRIAL ELECTRONICS 2025年

作者： Yang, Xiaohang Zhao, Zhiyuan Tian, Zhonglai Li, Yuntao Zhao, Jingdong Liu, Hong Harbin Inst Technol State Key Lab Robot & Syst Harbin 150080 Peoples R China Harbin Inst Technol Sch Mechatron Engn Harbin 150001 Peoples R China

In this article, a predefined-time robust kinematic control (PTRKC) scheme is proposed, which can effectively solve the kinematic uncertainty and noise problems. The convergence time of the system is independent of the initial state and control gain, and the manipulator can complete adjustment within the predefined time. To this end, a nonsingularity sliding variable is first designed and treated as an equality criterion. Meanwhile, the predefined time convergence property of the controller in reaching and sliding stages is rigorously proved based on the Lyapunov theory. Additionally, a dedicated recurrent neural network is also developed to address the PTRKC scheme. Finally, the performance of the proposed scheme is supported by the trajectory tracking experiment.

关键词： Kinematics Manipulators Uncertainty Convergence Artificial neural networks Noise Manipulator dynamics Jacobian matrices Torque Robustness Kinematic control kinematic uncertainty noise predefined-time control recurrent neural network (RNN) redundancy resolution

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predefined-time adaptive fuzzy tracking control for switched nonlinear systems

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ASIAN JOURNAL OF control 2024年第4期26卷 1927-1938页

作者： Jin, Yitong Wang, Fang Zhao, Maoxian Shandong Univ Sci & Technol Coll Math & Syst Sci Qingdao Peoples R China Shandong Univ Sci & Technol Coll Math & Syst Sci Qingdao 266590 Peoples R China

The paper focuses on the issue of predefined-time adaptive fuzzy tracking control for switched nonlinear systems. The complicated unknown nonlinear function is approximated by utilizing the fuzzy logic system. A novel adaptive fuzzy control scheme is proposed by using the common Lyapunov function and backstepping technology on the basis of the definition of predefined-time stability, which can preset the setting time of tracking errors. The findings indicate that the presented controller can ensure that all signals remain bounded in the closed-loop system under arbitrary switching conditions, and the tracking error can converge to the neighborhood near the origin within a predefined time. The feasibility of the developed control approach is further proved through an example of numerical simulation.

关键词： adaptive fuzzy control predefined-time control switched nonlinear systems

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predefined-time trajectory tracking control of free-flying space manipulator subject to uncertainties and disturbances

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ROBOTICS AND AUTONOMOUS SYSTEMS 2024年 177卷

作者： Yao, Qijia Li, Qing Huang, Mingji Jahanshahi, Hadi Univ Sci & Technol Beijing Sch Automat & Elect Engn Beijing 100083 Peoples R China Univ Sci & Technol Beijing Sch Mech Engn Beijing 100083 Peoples R China Inst Elect & Elect Engineers Toronto ON M5V 3T9 Canada

This article addresses the predefined -time trajectory tracking control of free -flying space manipulator (FFSM) subject to uncertainties and disturbances. First, a predefined -time nonsingular terminal sliding mode (NTSM) controller is developed with the high insensitivity to uncertainties and strong robustness against disturbances. The generalized attitude and angular velocity tracking errors under the predefined -time NTSM controller stabilize to zero in predefined time. Then, an adaptive version of the predefined -time NTSM controller presented. The parametric adaptation mechanism is incorporated to identify the square of the upper bound the lumped unknown item. Thus, the predefined -time adaptive NTSM (ANTSM) controller is smooth with obvious chattering phenomenon and can maintain the high tracking accuracy simultaneously. The generalized attitude and angular velocity tracking errors under the predefined -time ANTSM controller can stabilize to minor bounded regions around zero in predefined time. Simulations are provided to demonstrate the exploited controllers.

关键词： Free-flying space manipulator predefined-time control Nonsingular terminal sliding mode control Adaptive control

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predefined-time Event-Triggered Adaptive Tracking control for Switched Nonlinear Systems With Constraints Related to Full States

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INTERNATIONAL JOURNAL OF ROBUST AND NONLINEAR control 2025年

作者： Gao, Lihong Wang, Zhen Huang, Xia Shen, Hao Shandong Univ Sci & Technol Coll Math & Syst Sci Qingdao Peoples R China Shandong Univ Sci & Technol Coll Elect Engn & Automat Qingdao Peoples R China Anhui Univ Technol Sch Elect & Informat Engn Maanshan Peoples R China

This article proffers a predefined-time (PDT) event-triggered (ET) adaptive tracking control strategy for a class of switched nonlinear systems (SNSs) with constraints related to full states. To overcome the challenge of unknown output hysteresis, the Bouc-Wen model is introduced. Subsequently, a batch of tangent barrier Lyapunov functions (tan$$ \tan $$-BLFs) is formulated to prevent states from breaching constraint boundaries, which depend on the full states and time. The adaptive PDT ET controller, incorporating a switching threshold, is structured to ensure satisfactory system performance while conserving communication resources. By employing the average dwell time technique and the Lyapunov stability theory, it is demonstrated that under an average dwell time condition, all signals of the closed-loop system remain bounded. Furthermore, the system output can track the desired signal effectively within the expected settling time, with the tracking error converging to a small set around the origin, and the states staying within the specified boundaries. Ultimately, the efficacy of the proposed control strategy is verified through two case studies.

关键词： average dwell time event-triggered mechanism full state constraints output hysteresis predefined-time control

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predefined-time Prescribed Performance Fault-Tolerant control for a Class of Uncertain Nonlinear Systems Under Full State Constraints

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INTERNATIONAL JOURNAL OF ADAPTIVE control AND SIGNAL PROCESSING 2025年第6期39卷 1335-1350页

作者： Shao, Nuan Wu, Shanghua Xie, Yinghao Liu, Le Fang, Yiming Hebei Univ Environm Engn Dept Environm Engn Qinhuangdao Peoples R China Yanshan Univ Key Lab Intelligent Rehabil & Neuroregulat Hebei P Qinhuangdao Peoples R China

This study introduces a fault-tolerant control approach aimed at enhancing the control performance of a certain type of nonlinear systems that are prone to actuator faults and external disturbances. This combined fault disturbance term, along with the systems' external disturbance terms, are estimated by specially designed predefined-time observers. To achieve fault tolerance, a predefined-time fault-tolerant controller is designed by integrating the asymmetric barrier Lyapunov function (ABLF) with the improved prescribed performance function (IPPF). The ABLF is utilized to address the issue of full state constraints, while the IPPF ensures that the system states meet specific performance requirements. Additionally, novel command filters are introduced to alleviate the "explosion of complexity" issue, thereby reducing the system's computational burden. The theoretical analysis demonstrates that the proposed method drives the closed-loop system to converge to a neighborhood near the equilibrium point within a predefined time, while also guaranteeing that all system states remain within specified constraint boundaries. Finally, the validity and feasibility of the proposed method are validated through simulations and dSPACE experiments.

关键词： fault-tolerant control full state constraints novel command filter predefined-time control prescribed performance control

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Global predefined-time Adaptive Neural Network control for Disturbed Pure-Feedback Nonlinear Systems With Zero Tracking Error

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IEEE TRANSACTIONS ON NEURAL NETWORKS AND LEARNING SYSTEMS 2023年第9期34卷 6328-6338页

作者： Zhang, Yu Niu, Ben Zhao, Xudong Duan, Peiyong Wang, Huanqing Gao, Baozhong Shandong Normal Univ Sch Informat Sci & Engn Jinan 250014 Shandong Peoples R China Dalian Univ Technol Fac Elect Informat & Elect Engn Dalian 116023 Peoples R China Bohai Univ Sch Math & Phys Jinzhou 121000 Peoples R China

This article presents a global adaptive neural-network-based control algorithm for disturbed pure-feedback nonlinear systems to achieve zero tracking error in a predefined time. Different from the traditional works that only solve the semiglobal bounded tracking problem for pure-feedback systems, this work not only achieves that the tracking error globally converges to zero but also guarantees that the convergence time can be predefined according to the user specification. In order to get the desired predefined-time controller, first, a mild semibound assumption for nonaffine functions is skillfully proposed so that the design difficulty caused by the structure of pure feedback can be easily solved. Then, we apply the property of radial basis function (RBF) neural networks (NNs) and Young's inequality to derive the upper bound of the term that contains the unknown nonlinear function and external disturbances, and the designed adaptive parameters decide the derived upper and robust control gain. Finally, the predefined-time virtual control inputs are presented whose derivatives are further estimated by utilizing finite-time differentiators. It is strictly proved that the proposed novel predefined-time controller can guarantee that the tracking error globally converges to zero within predefined time and a practical example is shown to verify the effectiveness and practicability of the proposed predefined-time control method.

关键词： Nonlinear systems Convergence Adaptive systems control systems Artificial neural networks Power system stability Adaptive control Global adaptive control neural network (NN) control predefined-time control pure-feedback nonlinear systems

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