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predefined-time Adaptive Neural-Network-Based Consensus Tracking control for Nonlinear Multiagent Systems With Zero Tracking Error

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IEEE ACCESS 2021年 9卷 132205-132214页

作者： Zhang, Yu Niu, Ben Zhang, Jia-Ming Wang, Xia-Mei Shandong Normal Univ Sch Informat Sci & Engn Jinan 250014 Shandong Peoples R China

This paper is dedicated to addressing the predefined-time consensus tracking control problem for unknown high-order nonlinear multiagent systems. The prominent difference compared with some existing papers is that the follower is modeled in the form of non-strict-feedback structure. Meanwhile, instead of being constants, the real control gains are unknown functions. A distinct advantage in our work is that the outputs of followers are able to track the output of leader within the time specified in advance. In order to get our desired predefined-time controller, radial basis function (RBF) neural networks (NNS) are applied to compensate those unknown nonlinearities. Then in the design framework of adaptive backstepping, the predefined-time virtual control laws are presented and their derivatives are approximated by using finite-time differentiators. Under our proposed predefined-time controller, it is rigorously demonstrated that the whole closed-loop system remains stable and all outputs of the followers track the reference signal in predefined time. In the end, a simulation example is given to ulteriorly verify the efficacy of the suggested predefined-time control scheme.

关键词： Convergence Artificial neural networks Multi-agent systems Power system stability Nonlinear systems Backstepping Adaptive control predefined-time control adaptive tracking control nonlinear multiagent systems neural networks (NNs)

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Output Feedback predefined-time Bipartite Consensus control for High-Order Nonlinear Multiagent Systems

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IEEE TRANSACTIONS ON CIRCUITS AND SYSTEMS I-REGULAR PAPERS 2021年第7期68卷 3069-3078页

作者： Li, Kuo Hua, Changchun You, Xiu Ahn, Choon Ki Yanshan Univ Sch Elect Engn Qinhuangdao 066004 Hebei Peoples R China Korea Univ Sch Elect Engn Seoul 136701 South Korea Shanxi Univ Sch Math Sci Taiyuan 030006 Peoples R China

This paper concerns the predefined-time bipartite consensus control for uncertain nonlinear multiagent systems under a signed directed topology. All agents have high-order uncertain nonlinear dynamic characteristics satisfying a time-varying Lipschitz growth condition, and their partial state information is not available for measurement. In this case, we put forward a novel output-feedback-based predefined-time leader-following bipartite consensus control strategy. A predefined-time compensator for each follower is firstly constructed with a time-varying gain by utilizing its relative output information. Then, a novel linear-like output feedback predefined-time distributed control protocol is developed for each follower by means of the compensator. By making two artful state transitions, the bipartite consensus problem is reduced to a stabilization one of nonlinear systems. By means of the Lyapunov stability theorem, we strictly prove that the designed controllers can ensure that all agents realize bipartite consensus in predefined time. Finally, two simulation examples are given to validate the viability of the developed theoretical algorithm.

关键词： Multi-agent systems Consensus control Topology Output feedback Consensus algorithm Nonlinear dynamical systems Heuristic algorithms Bipartite consensus output feedback controllers predefined-time control a time-varying gain uncertain nonlinear multiagent systems

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NEURAL LEARNING control METHODOLOGY FOR predefined-time SYNCHRONIZATION OF UNKNOWN CHAOTIC SYSTEMS

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FRACTALS-COMPLEX GEOMETRY PATTERNS AND SCALING IN NATURE AND SOCIETY 2023年第6期31卷

作者： Yao, Qijia Li, Qing Alotaibi, Ahmed Alsubaie, Hajid Chu, Yu-ming Univ Sci & Technol Beijing Sch Automat & Elect Engn Beijing 100083 Peoples R China Univ Sci & Technol Beijing Key Lab Knowledge Automat Ind Proc Minist Educ Beijing 100083 Peoples R China Taif Univ Coll Engn Dept Mech Engn Taif 21944 Saudi Arabia Hangzhou Normal Univ Inst Adv Study Honorning Chen Jian Gong Hangzhou 313000 Peoples R China

This paper presents a method for achieving synchronization of chaotic systems with unknown dynamics, using a predefined-time neural learning control approach. The proposed method includes a control law for synchronization and a parameter updating law that are designed to ensure stability according to the predefined-time Lyapunov theory. The analysis of stability indicates that the synchronization errors using this approach converge to a small region around zero within the predefined time. The effectiveness of the proposed method is demonstrated through simulation examples.

关键词： Synchronization Unknown Chaotic System predefined-time control Neural Learning control

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predefined-time prescribed performance control for AUV with improved performance function and error transformation

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OCEAN ENGINEERING 2023年 281卷

作者： Sun, Yanchao Zhang, Yuang Qin, Hongde Ouyang, Lingpeng Jing, Ruijie Harbin Engn Univ Sci & Technol Underwater Vehicle Lab Harbin 150001 Peoples R China

Based on an improved performance function and error transformation, a kind of predefined-time control method with prescribed performance is investigated for the trajectory tracking control problem of the Autonomous Underwater Vehicle (AUV). First, an improved form of performance function is proposed and the corresponding error transformation is given. The AUV trajectory tracking error is limited within the predefined boundary to ensure the expected steady-state and transient response from the perspective of constraint boundary. Then, by using the idea of predefined-time control method, a prescribed performance controller with predefined time is proposed. The convergence time of trajectory tracking error is strictly set, and the Lyapunov method is used to prove the stability of the controller. Finally, the numerical simulation results show that the proposed controller is effective.

关键词： Autonomous underwater vehicle Prescribed performance predefined-time control Trajectory tracking control Improved performance function

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predefined-time Attitude Tracking control of a Rigid Spacecraft 40

Predefined-Time Attitude Tracking Control of a Rigid Spacecr...

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40th Chinese control Conference (CCC)

作者： Wang, Wencong Hou, Mingshan Liu, Bojun Qiao, Siyu Wu, Zhonghua Northwestern Polytech Univ Sch Automat Xian 710072 Peoples R China Xian Univ Technol Sch Automat & Informat Engn Xian 710048 Peoples R China Henan Polytech Univ Sch Elect Engn & Automat Jiaozuo 454000 Henan Peoples R China

ISBN: (纸本)9789881563804

A novel predefined-time attitude tracking control method is proposed for a rigid spacecraft. It is required that the attitude tracking error can converge to zero or a small neighborhood of zero in a finite time, whose upper bound is exactly a positive constant parameter that can be set arbitrarily by users. Two definitions about global predefined-time stability and global predefined-time boundedness are given. time-varying tuning functions are introduced into the backstepping-based attitude control designs. Lyapunov approach proves the system stability and simulation results verify the effectiveness of the controllers.

关键词： Rigid spacecraft Attitude control predefined-time control Backstepping control time-varying tuning function

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predefined-time Dynamic Surface control of Tank Horizontal Stabilization System With Disturbance

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INTERNATIONAL JOURNAL OF MECHANICAL SYSTEM DYNAMICS 2025年

作者： Fan, Zhicheng Yuan, Shusen Deng, Wenxiang Wen, Haoqi Sun, Haochuan Yao, Jianyong Nanjing Univ Sci & Technol Sch Mech Engn Nanjing Peoples R China Nanjing Univ Sci & Technol Natl Key Lab Transient Phys Nanjing Peoples R China

Modern new tanks are difficult to achieve high precision control of the horizontal stabilization system due to electromechanical coupling and road surface disturbance during high-speed combat. A predefined-time dynamic surface controller (DSCPT) is proposed for the fast stabilization and strong disturbance problems of the tank horizontal stabilization system. Based on backstepping control technique, the controller introduces a time-varying tuning function and a first-order filter to construct the dynamic surface error, where the time-varying tuning function ensures that the tracking error is bounded within a predefined time, and the hyperbolic tangent function ensures robustness and the continuity of the control input. Using Lyapunov theory, it is rigorously demonstrated that the control method is capable of achieving tracking error convergence to a predetermined range at any predefined time in the presence of system uncertainty, and that it is able to ensure global stabilization of the closed-loop system. In addition, a transfer model is used to link pavement roughness and major disturbance, and then added to the simulation. Finally, the effectiveness of the proposed control method is verified through a large number of comparative simulations.

关键词： dynamic surface control global stability horizontal stabilizer predefined-time control tank

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predefined-time Attitude Tracking control of a Rigid Spacecraft

Predefined-Time Attitude Tracking Control of a Rigid Spacecr...

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第40届中国控制会议

作者： Wencong Wang Mingshan Hou Bojun Liu Siyu Qiao Zhonghua Wu School of Automation Northwestern Polytechnical University School of Automation and Information Engineering Xi'an University of Technology School of Electrical Engineering and Automation Henan Polytechnic University

关键词： Rigid spacecraft Attitude control predefined-time control Backstepping control time-varying tuning function

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Adaptive predefined-time consensus for nonlinear multi-agent systems with input delay and performance constraints

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NEUROCOMPUTING 2025年 611卷

作者： Hou, Xinzhao Wu, Huaiqin Cao, Jinde Yanshan Univ Sch Sci Qinhuangdao 066001 Peoples R China Southeast Univ Sch Math Nanjing 210096 Peoples R China Ahlia Univ Manama 10878 Bahrain

This paper investigates the predefined-time tracking consensus issue for a class of non strict-feedback nonlinear multi-agent systems (MASs) under input delay and error performance constraints by adaptive backstepping control strategy. Firstly, the impact of input delay is eliminated by Pade approximation. With the help of an intermediate state variable, the considered MASs with input delay are revised as the independent-delay systems. Secondly, under constrained distributed error and corrected nth virtual error, the ln- type barrier Lyapunov function (BLF) is adopted to solve the error performance constrains and reduce the complexity of differentiation. Meanwhile, an adaptive predefined-time controller is designed to realize the tracking purpose by backstepping method and radial basis function neural networks (RBFNNs) approximation. Finally, a numerical simulation example and a practical application are presented to test the effectiveness for the proposed control strategy.

关键词： MASs predefined-time control Input delay Performance constraints Backstepping technique

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Robust nonlinear predefined-time cooperative line-of-sight guidance law for active defense in three-body confrontation

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ISA TRANSACTIONS 2025年 159卷 181-190页

作者： Qi, Qiang Peng, Chi Zhang, Hanwen Bu, Xiangwei Ma, Jianjun Natl Univ Def Technol Coll Intelligence Sci & Technol Changsha 410073 Hunan Peoples R China Air Force Engn Univ Air & Missile Def Coll Xian 710051 Shannxi Peoples R China

Conventional active guidance laws can achieve asymptotic or finite-time convergence of the line-of-sight (LOS) angle error. However, the convergence time is relatively conservative. In this article, we propose predefined-time (PT) sliding-mode (SM) convergence active defense guidance laws. Firstly, the proposed guidance law is designed based on a nonlinear LOS guidance framework, eliminating the assumption of small flight-path angles. Then, robust PT control theory is employed to achieve PT convergence of the SM surface. Moreover, two levels of cooperation between the target and the defender are introduced to enhance guidance performance. To minimize maximum overload, static optimization is incorporated in two-way cooperation by a performance index. The obtained guidance law does not require an observer or time-to-go estimation as compared to previous work. Additionally, our method can be applied not only in planar plane but also extended directly to three-dimensional geometry. Finally, we validate the effectiveness of our proposed strategies through comparative simulations.

关键词： Three-body confrontation Line-of-sight guidance predefined-time control Sliding mode control Nonlinear system

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Adaptive anti-unwinding attitude stabilisation with predefined time for rigid spacecraft

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INTERNATIONAL JOURNAL OF SYSTEMS SCIENCE 2025年第5期56卷 1023-1042页

作者： Xu, Yu-Tian Wu, Ai-Guo Li, Peng Harbin Inst Technol Shenzhen Key Univ Lab Mech & Machine Theory & Intelligent U Shenzhen 518055 Peoples R China Southern Univ Sci & Technol Sch Syst Design & Intelligent Mfg Shenzhen 518055 Peoples R China

In this paper, the problem of attitude stabilisation without unwinding is investigated for rigid spacecraft. To guarantee predefined-time convergence and unwinding-free performance of the closed-loop system, a predefined-time sliding mode function with adjustable parameters is proposed. This sliding mode function contains two equilibrium points. When the states of the closed-loop system are on the sliding mode surface, they converge to the equilibrium point near the initial states. Based on this sliding mode function, an adaptive attitude stabilising control law with tuning parameters is designed to compensate the external disturbances and inertia uncertainty. The presented control law guarantees that the settling time of the closed-loop system and the bounds of the system states can be explicitly determined in advance by adjusting parameters of the sliding mode function and the control law. Finally, numerical simulations are carried out to demonstrate the effectiveness of the presented control law. The simulation results illustrate that the predefined-time convergence and unwinding-free property of the closed-loop system are guaranteed by adopting the presented control law.

关键词： predefined-time control attitude control adaptive technique sliding mode control

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