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Adaptive predefined-time tracking control of nonlinear systems with unmodeled dynamics

INTERNATIONAL JOURNAL OF control 2025年

作者： Ai, Ze Wang, Huanqing Bohai Univ Sch Math Sci Jinzhou Peoples R China

Consider the problem of predefined-time adaptive tracking control in this paper for a class of strict-feedback nonlinear systems in the presence of unmodeled dynamics and dynamic disturbances. An improved predefined-time dynamic signal for the first time is proposed to address unmodeled dynamics. Via the practical predefined-time stability criterion and the adaptive backstepping control method, an adaptive predefined-time tracking controller is designed, which guarantees the tracking error converges to the small neighbourhood near zero within a predefined time. Simultaneously, all the signals in the closed-loop system are bounded. Finally, the developed scheme's feasibility is illustrated by simulation.

关键词： Unmodeled dynamics adaptive backstepping control predefined-time control tuning functions

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Nonsingular predefined-time control with Dynamic Parameter and Its Application on Visual Target Tracking of UAVs

Nonsingular Predefined-Time Control with Dynamic Parameter a...

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2024 International Conference on Guidance, Navigation and control

作者： Huang, Yanting Han, Chenguang Han, Honggui Beijing Univ Technol Fac Informat Beijing 100124 Peoples R China

ISBN: (纸本)9789819622467;9789819622443;9789819622436

This study is concerned with the predefined-time control issue, where the system settling time is required to be within a predefined value determined by the control parameter. Aiming at the overload control and singularity problem in the classical predefined-time control, we propose a novel nonsingular predefined-time control method with dynamic parameter. Specifically, the overload control problem refers that the fixed and small control parameter, which exactly reflects the maximum system settling time, would result in large control requirement due to relatively large initial error. This increases control energy consumption or even cannot be satisfied due to actuator saturation in practice. The time-varying parameter designed in this paper is effective to solve this problem. Moreover, an auxiliary segmentation term is embedded to the control law to further avoid singularity. Subsequently, the predefined-time control is applied within the visual target tracking scenario for UAVs. Finally, we conduct comparative numerical simulations and hardware-in-the-loop simulations for the purpose of validating the effectiveness and advantages of the presented method.

关键词： predefined-time control UAV Visual target tracking

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Decentralized event-trigger-based predefined-time adaptive control of large-scale nonlinear systems

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JOURNAL OF THE FRANKLIN INSTITUTE 2025年第2期362卷

作者： Fan, Chengli Xiao, Chunyi Xu, Tao Yu, Dengxiu Chen, C. L. Philip Air Force Engn Univ Air & Missile Def Coll Xian 710051 Shanxi Peoples R China Northwestern Polytech Univ Sch Artificial Intelligence Opt & Elect Xian 710072 Shanxi Peoples R China Northwestern Polytech Univ Unmanned Syst Res Inst Xian 710072 Shanxi Peoples R China South China Univ Technol Sch Comp Sci & Engn Guangzhou 510006 Guangdong Peoples R China

This research introduces a decentralized adaptive control method targeting large-scale nonlinear systems (LSNS) that takes external disturbances and subsystem connections into account. The unknown nonlinear function term is handled using the radial basis function neural network (RBFNN). For the first time, predefined-time control (PTC) and event-triggered control (ETC) are combined together to establish LSNS' decentralized control. The event-trigger-based PTC approach is created by fusing the PTC theory with the dynamic surface control strategy. To lessen computing complexity and prevent control singularities, the predefined-time filter (PTF) and the tanh function are implemented, respectively. Through rigorous theoretical analysis, the predefined-time stability of the considered LSNS is established, and the Zeno phenomenon is guaranteed to be absent. Simulation tests are employed to showcase the effectiveness and progress in the suggested control mechanism.

关键词： Decentralized adaptive control predefined-time control Non-singular control Event-trigger-based control predefined-time filter

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predefined-time tracking control of a class of nonlinear systems via a novel C^∞ performance function

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INTERNATIONAL JOURNAL OF ROBUST AND NONLINEAR control 2024年第5期34卷 3586-3601页

作者： Li, Jian Du, Jialu Dalian Maritime Univ Natl Ctr Int Res Subsea Engn Technol & Equipment Sch Marine Elect Engn Dalian Liaoning Peoples R China Dalian Maritime Univ Natl Ctr Int Res Subsea Engn Technol & Equipment Sch Marine Elect Engn Dalian 116026 Liaoning Peoples R China

It is well-known that the finite-time and the fixed-time control can ensure the finite-time and the fixed-time stabilities of systems, respectively. Therein the finite convergence time depends on both the initial conditions of systems and the controller design parameters, and the fixed convergence time only depends on the controller design parameters. The recently reported predefined-time control removes the above limitations. Nevertheless, the existing predefined-time control methods either require sliding modes, or suffer from the high-gain control problem at the predefined time, or cannot be applied to high-order systems. This article develops an alternative predefined-time tracking control scheme of a class of nonlinear systems by introducing a novel C-infinity performance function which reaches its terminal value at a predefined time. The developed predefined-time tracking control scheme has higher compatibility, does not cause the high-gain control problem at the predefined time and is applicable to arbitrary order systems. Theoretical analyses and simulations verify the effectiveness of our developed predefined-time tracking control scheme.

关键词： C-infinity performance function nonlinear systems predefined-time control

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Estimator-Based Lag-Bipartite time-Varying Formation Tracking for a Class of Euler-Lagrange Systems Using predefined time control Method

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IEEE ACCESS 2024年 12卷 157945-157953页

作者： Xiao, Bo Zhong, Huimin Han, Tao Hubei Normal Univ Sch Elect Engn & Automat Huangshi 435002 Hubei Peoples R China

This paper investigates the lag-bipartite time-varying formation tracking (LBTVFT) problem of Euler-Lagrange (EL) systems with predefined time convergence ability under directed signed digraph, in which both the parametric uncertainties and external disturbances are considered. Different from the issue of time-varying formation tracking with only cooperative interactions, this paper considers the case where coexists both the cooperative interactions and antagonistic interactions. The predefined-time hierarchical control algorithm is constructed to settle the above-mentioned problem. What's more, an estimator-based algorithm is built to guarantee that the estimated states of followers are agreement with the state of virtual leader within a preset time. Eventually, based on the assumptions that the signed digraph is structurally balance, the predefined-time LBVFT problem of EL systems is solvable via the presented hierarchical control law. Simulation examples are performed in the end to illustrate the effectiveness of theoretical results.

关键词： Formation control time-varying systems Convergence Vectors Uncertainty Trajectory Stability criteria Q measurement Process control Object recognition Euler-Lagrange (EL) systems multi-agent systems (MASs) lag-bipartite time-varying formation tracking (LBTVFT) predefined-time control

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Improved FPTPPF-based predefined-time tracking control of a UVMS with actuator faults

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OCEAN ENGINEERING 2024年 313卷

作者： Liu, Haitao Yang, Jingwei Tian, Xuehong Mai, Qingqun Liu, Mingxin Guangdong Ocean Univ Sch Mech Engn Zhanjiang 524088 Peoples R China Guangdong Engn Technol Res Ctr Ocean Equipment & M Zhanjiang 524088 Peoples R China Guangdong Ocean Univ Shenzhen Inst Shenzhen 518120 Peoples R China

In this paper, a new predefined-time control scheme is proposed for the trajectory tracking problem of an underwater vehicle-mechanic system (UVMS) with external disturbances, model uncertainties and actuator faults. First, a predefined-time controller is proposed to achieve convergence in a predefined time so that the convergence time does not depend on the initial value of the system. Second, considering the possible grasping and transportation tasks for the UVMS, an improved flexible predefined-time prescribed performance function (FPTPPF) with self-adjustment capability is proposed to avoid the vulnerabilities of the existing prescribed performance functions. A control framework is constructed for the integral barrier Lyapunov function and FPTPPF, which can achieve good tracking performance. Third, a predefined-time extended state observer (ESO) is constructed to address the problems caused by external disturbances, model uncertainties and actuator faults. For strong sudden disturbances, the H infinity control strategy is designed via the backstepping method, which effectively improves the robustness. Finally, the predefined-time stability of the system is proven via Lyapunov stability theory, where the tracking errors can converge to a small region of the null domain in a predefined time. The performance and superiority of the proposed predefined-time control method are verified via simulation comparisons.

关键词： Underwater vehicle-manipulator system predefined-time control predefined-time extended state observer Flexible predefined-time prescribed perfor- mance function

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Adaptive predefined-time Tracking control for Vehicular Platoons With Finite-time Global Prescribed Performance Independent of Initial Conditions

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IEEE TRANSACTIONS ON VEHICULAR TECHNOLOGY 2024年第11期73卷 16254-16267页

作者： Gao, Zhenyu Sun, Zhenchao Guo, Ge Northeastern Univ Coll Informat Sci & Engn Shenyang 110819 Peoples R China Northeastern Univ State Key Lab Synthet Automat Proc Ind Shenyang 110819 Peoples R China

This paper is concerned with the finite-time global prescribed performance control (FnTGPPC) problem for vehicular platoons with modeling uncertainties and external disturbances. A shifting function is first employed to adjust the tracking error, and together with a novel performance function, an improved FnTGPPC method is proposed, with which both strict restrictions that the initial conditions within a predefined region and must be known in prior all can be removed simultaneously, that is, for any known/unknown initial conditions, the given FnTGPPC method ensures the tracking error tends to the prescribed region. A predefined-time control scheme under the sliding mode control framework is further designed, such that the platoon tracking errors can converge to a predetermined region within the predefined time while avoiding the singularity phenomenon and improving the convergence speed of the system. By constructing numerical simulations and comparisons, the validity of the given scheme is demonstrated at last.

关键词： Convergence Sliding mode control Germanium Vehicle dynamics Sun Predictive models Upper bound Vehicular platoon system finite-time global prescribed performance control (FnTGPPC) arbitrary initial conditions shifting function predefined-time control

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Distributed predefined-time secondary control under directed networks for DC microgrids

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APPLIED ENERGY 2024年 374卷

作者： Chang, Shaoping Wang, Canfeng Luo, Xiaoyuan Guan, Xinping Yanshan Univ Sch Elect Engn Qinhuangdao 066004 Peoples R China Shanghai Jiao Tong Univ Dept Automat Shanghai 200240 Peoples R China

DC microgrids (MGs) have gained significant attention due to their ability to complement renewable energy generation. In order to improve the operational stability of DC MGs, a predefined-time-based secondary controller is proposed to restore voltage drops caused by droop control and achieve current allocation among agents according to expected ratios. To conserve communication resources, the communication topology is established as a directed network. Each distributed generator (DG) receives voltage and current information from neighboring devices and uses its own current and voltage regulators to achieve control objectives. Compared to existing controllers, the convergence time upper bound of the proposed approach is independent of the initial value and can be directly adjusted as a parameter. The stability of the proposed control strategy is then verified using Lyapunov theory. Finally, hardware-in-loop test results are conducted to validate the performance of the control strategy, and its superiority is demonstrated through comparison with existing control methods.

关键词： DC microgrids (MGs) predefined-time control Scaled consensus Distributed secondary control Directed networks

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Adaptive predefined-time tracking control of uncertain permanent-magnet synchronous motor drive chaotic system

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JOURNAL OF VIBRATION AND control 2025年第11-12期31卷 2243-2257页

作者： Ji, Yuehui Ke, Zhaotao Liu, Junjie Song, Yu Gao, Qiang Tianjin Univ Technol Sch Elect & Elect Engn Tianjin 300191 Peoples R China

A predefined-time tracking control algorithm is formulated for the Permanent Magnet Synchronous Motor(PMSM) driver system subjected to chaotic oscillations and undeterministic parameters, which can determine the upper bound of settling-time by controller gains. Radial Basis Function Neural Networks(RBFNNs) are employed to approximate the unknown nonlinear functions as universal approximators. The innovative predefined-time tracking differentiators are constructed to estimate the derivatives of the virtual inputs, resolving "the explosion of complexity" in traditional backstepping method. Then, an adaptive predefined-time controller is proposed in the backstepping framework. Lyapunov's theoretical analysis proves that all signals in the closed-loop systems are uniformly ultimately bounded and the output tracking errors can converge to a small neighborhood of the origin within the predefined-time. Finally, simulation studies are performed to demonstrate that the proposed control scheme can quash the chaotic behaviors of the PMSM drive system and ensure fast-tracking performance even under unknown parameters.

关键词： predefined-time control permanent magnet synchronous motor(PMSM) driver system chaotic oscillation predefined-time filter undeterministic parameters

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Neuro-Adaptive-Based predefined-time Smooth control for Manipulators With Disturbance

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IEEE TRANSACTIONS ON SYSTEMS MAN CYBERNETICS-SYSTEMS 2024年第8期54卷 4605-4616页

作者： Fan, Yanli Yang, Chenguang Zhan, Hong Li, Yongming South China Univ Technol Coll Automat Sci & Engn Key Lab Autonomous Syst & Networked Control Guangzhou 510640 Peoples R China Liaoning Univ Technol Coll Sci Jinzhou 121001 Peoples R China

In this article, an adaptive neural network (NN) predefined-time tracking control strategy is investigated for robot systems with external disturbance. First, under the predefined-time stability criterion, a new time-controlled torque controller is constructed, which allows for the system convergence time to be set beforehand. This is conducive to manipulators performing trajectory tracking tasks that require specific convergence times. In addition, the continuous terms are constructed by smoothly switching between the fractional and cubic terms of state-dependence. This solution successfully resolves the issues of singularity. Moreover, in order to compensate for unknown nonlinearity and torque disturbance, two different adaptive update laws are established, respectively. Furthermore, rigorous stability is proved based on the predefined-time Lyapunov theory. Finally, the accuracy and efficiency of the NN-based predefined-time control algorithm is confirmed and validated through both numerical simulations and practical experiments conducted with the Baxter robot.

关键词： Convergence Artificial neural networks Robots Manipulator dynamics Thermal stability Stability criteria Torque External disturbance neural network (NN) robot control predefined-time control

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