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Event-triggered predefined-time tracking control for uncertain nonlinear systems with constraints related to full state information

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SYSTEMS & control LETTERS 2025年 202卷

作者： Gao, Lihong Wang, Zhen Huang, Xia Shen, Hao Xia, Jianwei Shandong Univ Sci & Technol Coll Math & Syst Sci Qingdao 266590 Peoples R China Shandong Univ Sci & Technol Coll Elect Engn & Automat Qingdao 266590 Peoples R China Anhui Univ Technol Sch Elect & Informat Engn Maanshan 243002 Peoples R China Liaocheng Univ Sch Math Sci Liaocheng 252059 Peoples R China

This paper addresses the event-triggered predefined-time tracking control problem for a class of uncertain nonlinear systems with unmeasurable and constrained states. State observers are designed to estimate unmeasurable states. Additionally, coordinate transformations and barrier Lyapunov functions are employed to handle state constraints effectively. An event-triggered mechanism with a switching threshold is introduced to save communication resources while preventing Zeno behavior. The proposed control strategy ensures that all closed-loop system signals remain bounded, state constraints are satisfied, and the tracking error converges to a small neighborhood of the origin within a predefined time. The effectiveness of the proposed approach is validated through a numerical example and the Van Der Pol oscillator.

关键词： predefined-time control Event-triggered mechanism State constraints State unmeasurable Tracking control

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Adaptive predefined-time Backstepping control for Grid Connected Photovoltaic Inverter

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Energy Engineering 2024年第8期121卷 2065-2083页

作者： Jiarui Zhang Dan Liu Kan Cao Ping Xiong Xiaotong Ji Yanze Xu Yunfei Mu Key Laboratory of Smart Grid of Ministry of Education Tianjin UniversityTianjin300072China State Grid Hubei Electric Power Research Institute Wuhan430077China State Grid Hubei Electric Power Co. Ltd.Wuhan430077China

The system performance of grid-connected photovoltaic(PV)has a serious impact on the grid *** improve the control performance and shorten the convergence time,a predefined-time controller based on backstepping technology and dynamic surface control is formulated for the inverter in the grid-connected *** time-varying tuning functions are introduced into state-tracking errors to realize the predefined-time control *** address the“computational explosion problem”in the design process of backstepping control,dynamic surface control is adopted to avoid the analytical calculations of virtual *** disturbances of the PV system are estimated and compensated by adaptive *** control parameters are chosen and the global stability of the closed-loop is ensured by Lyapunov *** results confirm the effectiveness of the proposed controller and ensure the predefined time control in the photovoltaic inverter.

关键词： Photovoltaic inverter system backstepping technology predefined-time control adaptive control

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A predefined-time resilient control for cyber-physical systems against false data injection attacks 36

A predefined-time resilient control for cyber-physical syste...

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36th Chinese control and Decision Conference (CCDC)

作者： Jin, Hehao Wang, Yingying Zhao, Xuewen Ji, Yuehui Tianjin Univ Technol Sch Elect Engn & Automat Tianjin 300384 Peoples R China

ISBN: (纸本)9798350387780;9798350387797

A novel adaptive predefined-time resilient control is proposed for cyber-physical systems with stealthy false data injection attacks. As the sensors are attacked by ill-disposed hackers, the state information cannot be measured exactly. The system dynamic of the compromised states is deduced theoretically, characterized by nonlinear uncertainty dynamics and unknown control directions at the last step. In the framework of backstepping recursive procedures, an adaptive resilient controller is developed, the stability time and convergence accuracy of the output tracking error can be preset by controller gains. Especially, the Nussbaum functions are adopted at the last step in the adaptive control. Finally, a numerical example is conducted to verify that the proposed control can provide a favorable predefine time stabilization performance.

关键词： Cyber-physical systems false data injection attacks predefined-time control resilient control

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Distributed predefined-time formation control of second-order multi-agent systems with disturbances 36

Distributed predefined-time formation control of second-orde...

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36th Chinese control and Decision Conference (CCDC)

作者： Li, Zhuang Huang, Yiqing Deng, Xiongfeng Anhui Polytech Univ Sch Elect Engn Wuhu Peoples R China

ISBN: (纸本)9798350387780;9798350387797

For the formation control problem of second order multi-agent systems with external disturbances, a new distributed predefined-time formation tracking control strategy is proposed. First, a distributed predefined-time stale observer is designed so that each agent can obtain an estimate of the desired position and the desired velocity. Second, the estimation value of the predefined-time state observer is used as the input of each agent's controller, and the predefined lime integral sliding mode controller is designed, so that each agent can accurately track the desired position within the predefined time to realize the desired formation control. Finally, simulation experiments demonstrate the effectiveness and practicality of the proposed control strategy, which can realize the fast formation control of second-order multi-agent systems, and the stabilization time of the formation is independent of the initial state of the system and can he predefined.

关键词： multi-agent systems fig-motion control state observer predefined-time control integral sliding mode

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predefined-time Secondary control for DC Microgrid

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IEEE TRANSACTIONS ON INDUSTRIAL ELECTRONICS 2022年第12期69卷 13504-13513页

作者： Zhang, Yu Wang, Yan-Wu Xiao, Jiang-Wen Liu, Xiao-Kang Huazhong Univ Sci & Technol Sch Artificial Intelligence & Automat Key Lab Image Proc & Intelligent Control Wuhan 430074 Peoples R China

DC microgrid as a microscale power system has drawn growing attention for its various applications, which calls for good power quality, proper power sharing, and fast response property. However, the existing researches are not yet able to achieve the purpose in a predefined time. In this article, a new predefined-time secondary controller is proposed for DC microgrid to realize the objectives of both voltage regulation and current sharing among DGs within a predefined time. The controller is designed by employing a sign function and a K-1 function and by defining a new composite error, which does not need to sample the voltage of DC bus or the current of neighbors, but only the local current and voltage. The upper bound of the convergence time of both the voltage and current in the DC microgrid is just related to one parameter which can be predefined and is independent of initial error. The effectiveness of the proposed controller is verified by multiple simulations and experiments built on MATLAB/Simulink and a hardware-in-the-loop experimental platform. The conducted simulations and experiments include several typical scenarios together with a comparison, which illustrate the advantages of the proposed controller such as fast convergence rate and small overshoot.

关键词： Current sharing DC microgrid predefined-time control stability analysis voltage regulation

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Adaptive Quantized predefined-time Backstepping control for Nonlinear Strict-Feedback Systems

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IEEE TRANSACTIONS ON CIRCUITS AND SYSTEMS II-EXPRESS BRIEFS 2022年第9期69卷 3859-3863页

作者： Liu, Bojun Wang, Wencong Li, Yankai Yi, Yingmin Xie, Guo Xian Univ Technol Sch Automat & Informat Engn Xian 710048 Peoples R China Xian Univ Technol Shaanxi Key Lab Complex Syst Control & Intelligen Xian 710048 Peoples R China Northwestern Polytech Univ Sch Automat Xian 710072 Peoples R China

A novel adaptive quantized predefined-time control scheme is proposed in this brief for a class of uncertain nonlinear strict-feedback systems. Composite state tracking errors and a composite estimation error are utilized in backstepping design with introducing two time-varying tuning functions. It is shown that the output tracking error can be steered to an arbitrarily small neighborhood of the origin within a user-predefined time, which is an exact design parameter. The provided upper bound of settling time is less conservative compared with related studies. A simulation example shows the effectiveness of the control strategy.

关键词： Tuning Backstepping Adaptive systems Convergence time-varying systems Upper bound Estimation error Adaptive backstepping predefined-time control quantized control strict-feedback system

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Safety predefined-time Tracking control of Second-Order Nonlinear Systems 12

Safety Predefined-Time Tracking Control of Second-Order Nonl...

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IEEE 12th Data Driven control and Learning Systems Conference (DDCLS)

作者： Xu, Yang Sun, Yuan Chen, Yiyang Tao, Hongfeng Soochow Univ Sch Mech & Elect Engn Suzhou 215137 Peoples R China Jiangnan Univ Key Lab Adv Proc Control Light Ind Minist Educ Wuxi 214122 Jiangsu Peoples R China

ISBN: (纸本)9798350321050

This paper examines a category of second-order nonlinear systems' predefined-time tracking control issue restricted by the state and input from the control. The safety predefined-time control framework proposed by this work aims at tracking a desired trajectory in a predefined time while maintaining safe system outputs and control inputs. The safety predefined-time controller is specifically created by a safety filter utilizing the control barrier function approach and a predefined-time controller on the basis of the backstepping technique. The predefined-time controller establishes an explicit relation between the controller parameters and the convergence time constraint. Moreover, the safety filter enforces the state and control input constraints by constructing a quadratic programming problem. In an effort to demonstrate the feasibility of the safety predefined-time controller, a second-order practical system is simulated.

关键词： predefined-time control Backstepping control Safety controller control barrier function

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predefined-time Adaptive control for Multiagent Systems with Asymmetric Input Amplitude and Rate Saturations 13

Predefined-Time Adaptive Control for Multiagent Systems with...

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13th IEEE Data Driven control and Learning Systems Conference, DDCLS 2024

作者： Zeng, Binbin Yao, Minghai Zhang, Linchuang Pan, Yingnan College of Information Science and Technology Bohai University Jinzhou121013 China College of Control Science and Engineering Bohai University Jinzhou121013 China

ISBN: (纸本)9798350361674

In this paper, the adaptive predefined-time control issue is studied for multiagent systems subjected to asymmetric input amplitude and rate saturations. Firstly, a quadratic-fraction controller is designed to directly address the singularity issue caused by the differentiation of virtual control signals in predefined-time control methods. Following that, a novel auxiliary design signal system and a unified smooth representation function are developed to compensate for the effects of asymmetric input amplitude and rate saturations, which ensures predefined-time convergence of system signals. Additionally, by applying a predefined-time filter method, the proposed approach solves the 'explosion of complexity' issue caused by iterative derivation of the virtual controller, where the settling time of the system is dependent on a tuning parameter. Based on the Lyapunov stability method, it is inferred that the synchronization error and the filter error can converge to a small region of origin within a predefined time interval, and the stability can be ensured in the closed-loop systems. Ultimately, the simulation results confirm the efficacy of the proposed approach. © 2024 IEEE.

关键词： Amplitude and Rate Saturations Multiagent Systems predefined-time control Quadratic-Fraction controller

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Practical predefined-time Tracking control of 6-DOF Autonomous Vehicles With Input Quantization and Saturation

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JOURNAL OF FIELD ROBOTICS 2025年

作者： Xue, Han Wang, Xiangtao Jimei Univ Coll Nav Xiamen Fujian Peoples R China

Trajectory tracking control is a fundamental problem in the control of unmanned systems. In practical systems, actuators often have input quantization and saturation constraints, and failing to account for these constraints can affect control convergence time, precision, and even lead to system instability. Therefore, designing a practical predefined time controller specifically for unmanned systems with input quantization and saturation is particularly important. In this study, a novel practical predefined-time control criterion and predefined-time control criterion are proposed. A novel observer with predefined-time convergence is designed which can deal with both input quantization and input saturation. It is efficient without high computational cost, local optima, or complex parameter tuning. It can deal with ship systems with 6 degrees of freedom exposed to external disturbance. The 6 degrees of freedom model provides a more comprehensive representation of the dynamic characteristics. An autonomous vehicle model is used for testing, and the effectiveness of the proposed algorithm has been demonstrated.

关键词： input saturation predefined-time control unmanned vehicles

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predefined-time Reliable control for Robotic Systems With Prescribed Performance

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IEEE TRANSACTIONS ON INDUSTRIAL ELECTRONICS 2025年

作者： Liu, Jianxing Sun, Yizhuo Liu, Zhuang Gao, Yabin Wu, Ligang Leon, Jose I. Franquelo, Leopoldo G. Harbin Inst Technol Dept Control Sci & Engn Harbin 150001 Peoples R China Chongqing Univ Sch Automat Chongqing 400044 Peoples R China Univ Seville ENGREEN Lab Engn Energy & Environm Sustainabil Seville 41092 Spain Harbin Inst Technol HIT Sch Astronaut Harbin 150001 Peoples R China

This article presents a predefined-time reliable control strategy with prescribed performance for tracking control of robotic systems with actuator faults and parametric uncertainties. A compensation mechanism based on adaptive neural network is proposed for system uncertainties and nonlinear actuator faults, by which the control strategy does not need prior precise knowledge of uncertainties. A prescribed performance function (PPF) is introduced to improve the tracking performance. A predefined-time nonsingular terminal sliding mode control (NTSMC) strategy is proposed to realize the practical predefined-time convergence of the tracking errors. In addition, combined with the PPF, the predefined-time NTSMC is developed to ensure that actuator faults are tolerated. Meanwhile, the tracking errors always remain within prescribed bounds and converge to the equilibrium within the predefined time. Experiments verify the effectiveness and advantage of the proposed control strategy.

关键词： Convergence Actuators Robots Manipulator dynamics Uncertainty Vectors Uncertain systems Transient analysis Steady-state Sliding mode control Actuator faults predefined-time control prescribed performance control (PPC) sliding mode control (SMC)

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