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predefined-time adaptive fuzzy control for nonlinear output constraint systems with unknown backlash-like hysteresis via command filtering

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INTERNATIONAL JOURNAL OF SYSTEMS SCIENCE 2025年第4期56卷 767-785页

作者： Jiang, Yaling Su, Yakun Bohai Univ Sch Math Sci Jinzhou 121000 Peoples R China

In this article, the predefined-time adaptive fuzzy control problem for strict-feedback nonlinear systems with asymmetric time-varying output constraint and unknown backlash-like input hysteresis is considered. An innovative predefined-time adaptive control method, in which utilises unified barrier function (UBF) to deal with the output constraint problem and adopts a differential equation to represent the unknown backlash-like hysteresis, is presented by combining a novel command filter with backstepping technology. Fuzzy logic systems (FLSs) are employed to estimate the unknown nonlinearities. Moreover, by designing appropriate parameters, the constructed control strategy ensures that all signals are predefined-time bound and the tracking error stays in a small neighbourhood adjacent zero. Ultimately, two simulation examples are given to prove the effectiveness of the presented control algorithm.

关键词： Adaptive fuzzy control asymmetric time-varying output constraint unknown Backlash-like hysteresis predefined-time control command filter

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Fuzzy-Based Practically predefined-time Adaptive Tracking control for Stochastic Nonlinear Systems with Injection and Deception Attacks

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INTERNATIONAL JOURNAL OF FUZZY SYSTEMS 2025年 1-12页

作者： Yao, Yan Tan, Jieqing Yao, Yangang Zhang, Xu Chen, Peng Hefei Univ Technol Sch Math Hefei 230601 Peoples R China Anhui Agr Univ Sch Informat & Artificial Intelligence Hefei 230036 Peoples R China Anqing Normal Univ Sch Comp & Informat Anqing 246133 Peoples R China

The issue of predefined-time control for stochastic nonlinear systems (SNS) with injection and deception attacks is studied. This scheme overcomes the disadvantage that the settling time depends on the initial state/complex parameter relationships in finite/fixed-time stabilization. Compared with the existing predefined-time schemes, the proposed scheme has greater freedom and improves the applicability because the exponential function is changed to the power function in the controller design. In addition, we are the first to present the issue of predefined-time control for SNS under injection and deception attacks. For the network security control of systems, the previous methods mainly focus on state estimation, fault detection, recovery schemes, and so on. These methods are not only complicated in design process but also have some limitations in practical application. With the help of adaptive theory and the predefined-time theory, we designed a novel adaptive fuzzy controller, which can reduce the influence of injection and deception attacks and ensure the closed-loop system is uniformly bounded in the 4th moment sense. Simulations show the feasibility of the proposed method.

关键词： Stochastic nonlinear systems (SNS) predefined-time control Injection and deception attacks Adaptive tracking control Fuzzy logical systems (FLS)

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Command Filter-Based predefined-time Adaptive Fuzzy control for High-Order Nonlinear Interconnected Systems With Input Quantization

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IEEE TRANSACTIONS ON FUZZY SYSTEMS 2025年第4期33卷 1298-1310页

作者： Zhao, Lin Sui, Shuai Liu, Tengfei Chen, Chun-Lung Philip Liaoning Univ Technol Coll Sci Jinzhou 121001 Peoples R China Northeastern Univ State Key Lab Synthet Automation Proc Ind Shenyang 110004 Peoples R China South China Univ Technol Sch Comp Sci & Engn Guangzhou 510641 Peoples R China

This article focuses on studying an adaptive fuzzy predefined-time tracking control problem for uncertain high-order nonlinear interconnected systems with input quantization. The considered plants contain unknown nonlinear functions, quantized input signals, and external disturbances. Fuzzy logic systems (FLSs) are employed to estimate the unknown nonlinear functions, and by using its structural properties, the difficulty of designing the state variable functions is simplified. By employing adaptive backstepping recursive technique combined with power-based Lyapunov functions, the predefined-time control strategy is presented. Notably, a novel predefined-time filter is used to avoid repeated differentiation of virtual control functions. By applying predefined-time Lyapunov stability theory, the stability analysis demonstrates that all signals in the closed-loop systems remain bounded and the tracking error converges within a predefined settling time. Ultimately, a simulation example is provided to illustrate the validity of the proposed control strategy.

关键词： Interconnected systems Quantization (signal) Backstepping Nonlinear systems control systems Adaptive systems Vectors Lyapunov methods Trajectory Stability criteria Fuzzy logic system high-order interconnected systems input quantization predefined-time control predefined-time filter

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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 Full-State Constrained control for Mobile Robot Systems With Deferred Constraints

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IEEE TRANSACTIONS ON INDUSTRIAL ELECTRONICS 2025年第3期72卷 2968-2976页

作者： Chen, Jiannan Hua, Changchun Mu, Dianrui Zhang, Yu Yanshan Univ Sch Elect Engn Qinhuangdao 066000 Peoples R China

This article studies the tracking control problem for a class of mobile robot systems (MRSs) with time-varying deferred constraints. First, a novel time-varying function is introduced to modify the original tracking error, which avoids the conservatism of the system initial values. Then, the modified errors are constrained within the preset deferred constraints by barrier Lyapunov function method. Furthermore, by using the fraction-power- based method, the novel predefined-time full-state constrained control scheme is designed. In the end, based on Lyapunov stability theory, it is demonstrated that the states will satisfy the preset constrains, all the signals in the closed-loop system are bounded in predefined-time, and the tracking errors can converge to the desired neighborhood of the origin in predefined-time. To validate the effectiveness of our designed control scheme, numerical simulations and practical platform experiments have been conducted. To ensure repeatability,

关键词： Barrier Laypunov function deferred constraints full-state constraints mobile robot systems (MRSs) predefined-time control Barrier Laypunov function deferred constraints full-state constraints mobile robot systems (MRSs) predefined-time control

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predefined-time consensus tracking control for multi-agent systems with full-state constraints

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CHAOS SOLITONS & FRACTALS 2025年 191卷

作者： Zhao, Zhihong Peng, Feng Wang, Tong Yu, Jinyong Sui, Shuai Harbin Inst Technol Res Inst Intelligent Control & Syst Harbin 150080 Peoples R China Liaoning Univ Technol Sch Sci Jinzhou Peoples R China

A practical predefined-time control of multi-agent nonlinear systems with full-state constraints is studied in this paper, where the multiple agents are driven to reach consensus. Compared with existing related research, this predefined-time control can directly constrain all states instead of constraining tracking and virtual errors and ensure the practical predefined-time stability of closed-loop multi-agent systems. A new full-state constrained control framework is proposed to convert the dynamic model under full-state constraints into an unconstrained dynamic model. Fuzzy logic systems are applied to estimate the unknown nonlinear terms present in the transformed dynamic model. Combining the back stepping control framework and the predefined-time control theory, the predefined-time fuzzy adaptive consensus tracking control approach is proposed. The designed control technique ensures that the controlled multi-agent systems achieve stability within a predesignated time and maintain all system states within the desired range. Finally, a simulation example of attitude consensus tracking of multiple quadrotor unmanned aerial vehicles is provided to validate the effectiveness of the proposed control approach.

关键词： predefined-time control Full-state constraints Non-singular control

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Practical predefined-time fault-tolerant tracking control of autonomous surface vehicles subject to faults and saturation

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TRANSACTIONS OF THE INSTITUTE OF MEASUREMENT AND control 2025年

作者： Xue, Han Wang, Xiangtao Jimei Univ Coll Nav Xiamen 361021 Fujian Peoples R China

In practical engineering applications, timely fault detection and estimation are often critical, while time-consuming fault detection processes can lead to system instability or significant performance degradation. To address this issue, a practical predefined-time convergence mechanism has been developed. This mechanism starts with an introduction to fault detection, followed by the design of a predefined-time fault estimation approach. Subsequently, a practical predefined-time fault-tolerant controller, along with a theoretical proof of the proposed control algorithm, is provided. A new scheme for singularity avoidance is introduced, ensuring that tracking errors do not approach infinity near the origin. The effectiveness of this approach is verified through its application to unmanned surface vessels for trajectory tracking, where it outperforms traditional fixed-time and predefined-time controllers. Its key characteristics include simple operation, remarkable effectiveness, and intuitive display. Ultimately, this research enhances the transient stability and robustness of unmanned ships control under non-ideal conditions and environments.

关键词： Autonomous ships predefined-time control fault-tolerant control

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Observer-Based predefined-time Adaptive Fuzzy Prescribed Performance Tracking control for a QUAV

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IEEE TRANSACTIONS ON FUZZY SYSTEMS 2025年第2期33卷 789-798页

作者： Cui, Guozeng Zhu, Guanchao Gu, Juping Ma, Qian Xu, Shengyuan 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 problem of predefined-time adaptive output-feedback tracking control with prescribed performance for a quadrotor unmanned aerial vehicle (QUAV). Fuzzy logic systems (FLSs) are utilized to identify the unknown nonlinear dynamics of QUAV, and a fuzzy state observer is devised to estimate immeasurable states. By using the command filter, the problem of "explosion of complexity" is successfully averted, meanwhile the influence of filtered error is eliminated by way of the fractional power error compensation mechanism. The issue of singularity is effectively tackled by the hyperbolic tangent function's property and L'Hospital's rule. A predefined-time performance function is inserted into the control scheme to ensure that the tracking errors are restricted to the preassigned performance bounds. It is strictly proven that the closed-loop system is practically predefined-time stable, and the position and attitude tracking errors are driven into a small region around zero in a predefined time. Finally, a comparative simulation example is provided to show the validity and superiority of the proposed predefined-time adaptive control algorithm.

关键词： Attitude control Backstepping Convergence Trajectory tracking Steady-state Space vehicles Quadrotors Heuristic algorithms Error compensation Design methodology Adaptive fuzzy control backstepping command filter predefined-time control quadrotor unmanned aerial vehicle (QUAV)

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Adaptive global predefined-time performance constraints control of four-wheel independently drive skid-steering mobile robots with wheel dynamics

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NONLINEAR DYNAMICS 2025年第14期113卷 18361-18379页

作者： Ge, Meng Wang, Binrui Guan, Licong Zhou, Kun China Jiliang Univ Coll Mech & Elect Engn Hangzhou 310018 Peoples R China China Jiliang Univ Natl & Local Joint Engn Lab Disaster Monitoring Te Hangzhou 310018 Peoples R China

From an integrated motor-robot perspective, this paper addresses the problem of global predefined-time trajectory tracking control for a four-wheel independent drive skid-steering robot (FWID-SSMR) under prescribed performance constraints. Unlike previous studies that focus solely on kinematic or dynamic models, this paper presents an integrated dynamic model for FWID-SSMR with consideration of parameter variations, frictional resistance, external disturbances, wheel slip, unknown failure, and motor saturation during operation, which comprehensively describes the kinematics, dynamics, and wheel dynamics (including motor drive dynamics and wheel slip) of the FWID-SSMR. Based on this model, an adaptive hierarchical global predefined-time performance constraints control scheme is developed, comprising trajectory tracking control, control allocation strategy, and motor drive control. These three interconnected mechanisms are collaboratively optimized to achieve flexible, designer-specified tracking performance indicators, including settling time, overshoot, convergence speed, and steady-state error. This control scheme achieves global prescribed performance control and overcomes the dependency of settling time on initial conditions. Theoretical analysis and simulation results jointly validate the effectiveness and superiority of the developed control scheme in trajectory tracking of FWID-SSMR.

关键词： predefined-time control Global prescribed performance control Skid-steering mobile robot Trajectory tracking control Actuator saturation and unknown failure

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Adaptive predefined-time Fuzzy Tracking control for Output Constrained Non-strict Feedback Nonlinear Systems with Input Saturation

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INTERNATIONAL JOURNAL OF FUZZY SYSTEMS 2025年第3期27卷 701-712页

作者： Zhao, Wei Li, Feng Wang, Jing Shen, Hao Anhui Univ Technol Sch Elect & Informat Engn Maanshan 243032 Peoples R China

An adaptive predefined-time fuzzy tracking control problem for non-strict feedback systems is investigated in this paper. Compared with some previous findings on adaptive control for the output constrained systems with input saturation, the most significant feature of this research is that the system convergence time only depends on one design parameter. To approximate the unknown nonlinearity, fuzzy logic systems as a powerful method is introduced. Additionally, by integrating the auxiliary control signal and the barrier Lyapunov function method into the backstepping deduce procedure, a predefined-time adaptive fuzzy control scheme is proposed for such a system. Theoretical analysis proves that all of the system variables are bounded, and the system output converges to a small region near the given signal within a predefined time. Finally, a practical example of the single-link rigid robot system and a numerical example are conducted to verify the effectiveness of the proposed control approach.

关键词： predefined-time control Input saturation Output constraint Adaptive fuzzy control

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