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Adaptive predefined-time prescribed performance control for spacecraft systems

MATHEMATICAL BIOSCIENCES AND ENGINEERING 2023年第3期20卷 5921-5948页

作者： Su, Yuhan Shen, Shaoping Xiamen Univ Sch Aerosp Engn Dept Automation Xiamen 361102 Peoples R China

The high-accuracy attitude maneuvering problem for spacecraft systems is investigated. A prescribed performance function and a shifting function are first employed to ensure the predefinedtime stability of attitude errors and eliminate the constraints on tracking errors at the incipient stage. Subsequently, a novel predefined-time control scheme is developed by combining prescribed performance control and backstepping control procedures. Radial basis function neural network and minimum learning parameter techniques are introduced to model the function of lumped uncertainty including inertial uncertainties, actuator faults and virtual control law derivatives. According to the rigorous stability analysis, the preset tracking precision can be achieved within a predefined time and the fixed-time boundedness of all closed-loop signals is established. Finally, the efficacy of the propounded control scheme is manifested through numerical simulation results.

关键词： predefined-time control backstepping control prescribed performance control attitude maneuvering spacecraft system

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Continuous precise predefined-time attitude tracking control for a rigid spacecraft

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INTERNATIONAL JOURNAL OF control 2023年第4期96卷 921-933页

作者： Wang, Wencong Hou, Mingshan Fu, Yikai Liu, Bojun Northwestern Polytech Univ Sch Automat Xian Peoples R China China Helicopter Res & Dev Inst Jingdezhen Peoples R China Xian Univ Technol Sch Automat & Informat Engn Xian 710048 Peoples R China

This paper designs a new predefined-time attitude tracking control algorithm for a rigid spacecraft with uncertain inertia matrix and disturbance. The main feature of the controller is that the attitude tracking error can converge to zero precisely within a user-predefined time, whose upper bound is an explicit parameter that can be selected arbitrarily. The whole control process is divided into two stages, and the control law is composed of an integral-type invariant partial control law and a two-stage partial control law. In the first stage, classic backstepping control technique is applied to guarantee bounded attitude tracking error. In the second stage, a novel time-varying tuning function vector is introduced into backstepping design, regulating attitude tracking error to zero accurately in a predefined time. It is analysed that the control torque is always continuous with respect to time, even at the connection time between two control stages. Simulation and comparison studies show the effectiveness and superiority of the proposed controller.

关键词： Spacecraft attitude control predefined-time control backstepping control time-varying tuning function continuous control torque

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Adaptive predefined-time Bipartite Consensus Tracking control of Constrained Nonlinear MASs: An Improved Nonlinear Mapping Function Method

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IEEE TRANSACTIONS ON CYBERNETICS 2023年第9期53卷 6017-6026页

作者： Niu, Ben Zhang, Yu Zhao, Xudong Wang, Huanqing Sun, Wei Sichuan Univ Sch Elect Engn Chengdu 610065 Peoples R China Shandong Normal Univ Sch Informat Sci & Engn Jinan 250014 Peoples R China Shandong Univ Sch Math Jinan 250100 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 Liaocheng Univ Sch Math Sci Liaocheng 252000 Peoples R China

This work focuses on the problem of predefined-time bipartite consensus tracking control for a class of nonlinear MASs with asymmetric full-state constraints. A predefined-time bipartite consensus tracking framework is developed, where both cooperative communication and adversarial communication among neighbor agents are implemented. Different from the finite-time and the fixed-time controller design methods for MASs, the prominent advantage of the controller design algorithm presented in this work is that our algorithm can make the followers track either the output or the opposite output of the leader within the predefined time in accordance to the user requirements. In order to obtain the desired control performance, an improved time-varying nonlinear transformed function is skillfully introduced for the first time to handle the asymmetric full-state constraints and radial basis function neural networks (RBF NNs) are employed to deal with the unknown nonlinear functions. Then, the predefined-time adaptive neural virtual control laws are constructed by using the backstepping technique, while their derivatives are estimated by the first-order sliding-mode differentiators. It is theoretically testified that the proposed control algorithm not only guarantees the bipartite consensus tracking performance of the constrained nonlinear MASs in the predefined time but also remains the boundedness of all the resulting closed-loop signals. Finally, the simulation research on a practical example shows the validity of the presented control algorithm.

关键词： Convergence control systems Tuning Topology time factors Stability analysis Nonlinear systems Asymmetric full-state constraints Bipartite consensus tracking nonlinear multiagent systems nonlinear transformed functions predefined-time control

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predefined-time Neural Sliding Mode control Based Trajectory Tracking of Autonomous Surface Vehicle

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JOURNAL OF MARINE SCIENCE AND TECHNOLOGY-TAIWAN 2023年第3期31卷 193-204页

作者： Xue, Han Li, Shulin Jimei Univ Coll Nav Xiamen 361021 Fujian Peoples R China

With the progress and development of modern industry, it is urgent to develop a more general and mature predefined time control theory system for uncertain nonlinear systems and apply it to practical engineering systems. Therefore, a novel predefined-time sliding mode control is designed to improve the slow convergence speed of asymptotically convergent controllers and finite-time convergent controllers affected by the initial state of the system. The proposed control approach is proved to converge from the initial value to the balance position using Jensen's inequality and Liapunov theorem. The proposed control method can deal with the ship motion system having six Degree-Of-Freedom (DOF) under external disturbance and parameter uncertainty. Furthermore, there are several application scenarios to simulate the proposed algorithm, such as the ship which is required to achieve ideal control accuracy in a short and fixed time. Alternatively, an unmanned ship is required to arrive at the desired location within the specified time. To sum up, this algorithm can extend some existing theoretical results on finite-time and fixed-time control to the predefined-time case.

关键词： predefined-time control Sliding mode control Unmanned surface vessel

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predefined-time attitude takeover control of spacecraft with quantized states

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PROCEEDINGS OF THE INSTITUTION OF MECHANICAL ENGINEERS PART G-JOURNAL OF AEROSPACE ENGINEERING 2023年第10期237卷 2341-2352页

作者： Shi, Mingyue Wu, Baolin Xu, Chuang Harbin Inst Technol Res Ctr Satellite Technol Harbin Peoples R China Harbin Inst Technol Res Ctr Satellite Technol Room 503Block B32 Yikuang St Harbin 150001 Heilongjiang Peoples R China

This article addresses the problem of predefined-time attitude takeover control (PTATC) of spacecraft by using cellular satellites with limited inter-satellite communication capacity. To reduce the communication burden in the wireless networks, a dynamic uniform quantizer is employed to quantize the attitude signals and angular velocity signals measured by the sensor cellular satellites (SCSs). Besides, a static uniform quantizer is used to quantize the control torque signal generated by the controller cellular satellite (CCS). A predefined-time quantized attitude control law is designed, which can compensate for the quantization error. The proposed PTATC scheme can reduce the communication burden among the cellular satellites and achieve the desired angular velocity and attitude of the combined spacecraft within the predefined-time on the premise of ensuring the system performance. Under the proposed control law, all the signals in the closed-loop system can converge into a bounded region within a predefined-time. Finally, numerical simulations are presented to illustrate the effectiveness of the proposed scheme.

关键词： spacecraft attitude control takeover control predefined-time control quantized states limited communication

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predefined-time Adaptive Fuzzy control for a Class of Nonlinear Systems With Output Hysteresis

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IEEE TRANSACTIONS ON FUZZY SYSTEMS 2023年第8期31卷 2522-2531页

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

The adaptive fuzzy predefined-time tracking control problem for a class of nonlinear systems with output hysteresis is investigated in this article. An inverse model is utilized to capture the output hysteresis phenomenon, and then, the Nussbaum-type function technique is utilized to overcome the difficulty of unknown time-varying control gain caused by output hysteresis. An adaptive fuzzy control scheme under the backstepping framework is developed using the predefined-time stability criterion. Different from the existing predefined-time design approaches, the adaptive law designed in this article is represented as a nonlinear differential equation. Theoretical analysis demonstrates that all signals of the closed-loop systems are bounded, and the tracking error can converge to the neighborhood near the origin within an expected settling time. The developed scheme's feasibility is verified by an example of an electromechanical system.

关键词： Adaptive fuzzy control input saturation non-linear systems output hysteresis predefined-time control

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Adaptive practical predefined-time neural tracking control for multi-joint uncertain robotic manipulators with input saturation

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NEURAL COMPUTING & APPLICATIONS 2023年第27期35卷 20423-20440页

作者： Sai, Huayang Xu, Zhenbang Zhang, Enyang Chinese Acad Sci Changchun Inst Opt Fine Mech & Phys CAS Key Lab Onorbit Mfg & Integrat Space Opt Syst Changchun 130033 Peoples R China Univ Chinese Acad Sci Beijing 100049 Peoples R China

predefined-time stability contributes to constraining the tracking time of robotic manipulators, but the stringent judgment conditions restrict its practical application. This paper studies an adaptive practical predefined-time neural control scheme for uncertain multi-joint robotic manipulators with input saturation. First, a practical predefined-time stability criterion is established to ensure the closed-loop stability of uncertain systems. Then, the unknown robotic dynamic model can be approximated by radial basis function neural networks. Meanwhile, the input saturation of the robotic manipulator is compensated by introducing an adaptive term. Based on the constructed stability criterion, the proposed controller is proved to guarantee that the tracking error of the system converges to a small neighborhood of the origin within a predefined time and is independent of the initial state. Finally, the effectiveness of the proposed control scheme is emphasized by numerical simulations and experiments of a two-joint and a nine-joint robotic manipulator, respectively.

关键词： predefined-time control Multi-joint robotic manipulator Adaptive control Input saturation Neural network

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Event-Triggered predefined-time Output Feedback control for Fractional-Order Nonlinear Systems With Input Saturation

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IEEE TRANSACTIONS ON FUZZY SYSTEMS 2023年第12期31卷 4397-4409页

作者： Cui, Mengyuan Tong, Shaocheng Liaoning Univ Technol Coll Sci Jinzhou 121001 Peoples R China

The event-triggered predefined-time output feedback control problem is considered for fractional-order nonlinear systems (FONSs) with input saturation. The controlled plant contains unknown nonlinear dynamics and unmeasured states. The unknown nonlinear dynamics are handled by using fuzzy approximation technique;a fuzzy state observer is established to estimate unmeasured states and an event-triggered mechanism is given to improve the efficiency of communication resource utilization. The predefined-time stable criterion of FONSs is first developed. Then, an event-triggered predefined-time output feedback control is proposed by using the dynamic surface control technique. Based on the proposed predefined-time stable criterion and Lyapunov function, it is proved that the controlled system is semiglobal practically predefined-time stable and all the signals are bounded in predefined-time interval. Finally, the simulation results are given to confirm the effectiveness of the presented predefined-time control method.

关键词： Event-triggered mechanism fractional-order nonlinear systems (FONSs) fuzzy state observer input saturation predefined-time control

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predefined-time 3-D Trajectory Tracking control of Underactuated AUVs with predefined-time Disturbance Observer 14

Predefined-Time 3-D Trajectory Tracking Control of Underactu...

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14th Asian control Conference (ASCC)

作者： Liu, Junnan Lin, Dapeng Du, Jialu Dalian Maritime Univ Sch Marine Elect Engn Dalian Peoples R China China Vessel Res & Dev Acad Beijing Peoples R China

ISBN: (纸本)9798331540845;9789887581598

This paper proposes a predefined-time three-dimensional (3-D) trajectory tracking control scheme for underactuated autonomous underwater vehicles (AUVs) with unknown dynamics and unknown time-varying disturbances. First, a predefined-time disturbance observer is designed to estimate the compound disturbances lumped by unknown dynamics and time-varying disturbances. Based on the predefined-time disturbance observer, a predefined-time 3-D trajectory tracking control law is designed within the backstepping framework. Theoretical analysis indicates that the tracking error under proposed control scheme of the underactuated AUVs can converge to a small compact set around the zero within a predefined time and finally asymptotic converge to zero, while all signals in the AUV trajectory tracking close-loop control system are bounded. Simulation results with comparisons demonstrate the effectiveness and the superiority of the proposed control scheme.

关键词： Underactuated AUVs trajectory tracking predefined-time control predefined-time disturbance observer asymptotic converge

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Multi-aircraft formation control based on predefined-time 36

Multi-aircraft formation control based on predefined-time

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36th Chinese control and Decision Conference (CCDC)

作者： Ji, Yuehui Ke, Zhaotao Zhao, Xuewen Liu, Junjie Li, Pengfei Tianjin Univ Technol Sch Elect Engn & Automat Tianjin Peoples R China

ISBN: (纸本)9798350387780;9798350387797

A formation strategy based on predefined-time tracking of expected relative distance is proposed for multi-aircraft in leader-following structure, ignoring the relevant process constraints. Firstly, the relative position relationship of the leader and followers is established under the leader's ballistic coordinate system. Secondly, the relative motion model of the aircrafts is established under the inertial coordinate system. Based on the dynamic model of the aircrafts, the backstepping control method and the predefined time control theory are combined to formulate the formation controller. The system stability of the closed-loop system is proved by Lyapunov theorem. Finally, the formation configuration of one leader and two followers is simulated and verified. The simulation results show that the proposed formation controller can achieve the system stability within a predefined-time.

关键词： multi-aircraft formation control backstepping predefined-time control

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