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Adaptive predefined-time Synchronization and Tracking control for Multimotor Driving Servo Systems

IEEE-ASME TRANSACTIONS ON MECHATRONICS 2025年第1期30卷 494-504页

作者： Hu, Shuangyi Chen, Qiang Ren, Xuemei Wang, Shubo Zhejiang Univ Technol Coll Informat Engn Hangzhou 310023 Peoples R China Beijing Inst Technol Sch Automat Beijing 100081 Peoples R China Qingdao Univ Sch Automat Qingdao 266071 Peoples R China Qingdao Univ Shandong Key Lab Ind Control Technol Qingdao 266071 Peoples R China

This article proposes a predefined-time synchronization and tracking control strategy for multimotor driving servo systems. First, a mean relative coupling synchronization controller is constructed with predefined-time convergence, such that the convergence time can be preset by adjusting one parameter and does not rely on initial states. In order to avoid the singularity problem, a predefined-time command filtered backstepping tracking controller is designed to reduce the computational complexity and ensure that the tracking error can converge into a neighborhood near the origin within a predefined time. Experiments are conducted to verify the efficiency of the proposed method.

关键词： Synchronization Servomotors Backstepping Torque Couplings Convergence Mathematical models Command filtered backstepping control mean relative coupling synchronization multimotor driving servo systems predefined-time control

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predefined-time Fuzzy Adaptive control for Spacecraft Pose Tracking With Asymptotic Error

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IEEE TRANSACTIONS ON FUZZY SYSTEMS 2025年第3期33卷 971-981页

作者： Xu, Hao Dong, Dianbiao Yu, Dengxiu Liu, Yan-Jun Northwestern Polytech Univ Unmanned Syst Res Inst Xian 710072 Peoples R China Northwestern Polytech Univ Sch Mech Engn Xian 710072 Peoples R China Northwestern Polytech Univ Sch Artificial Intelligence Opt & Elect Xian 710072 Peoples R China Liaoning Univ Technol Coll Sci Jinzhou 121001 Peoples R China

This article investigates for the first time the predefined-time relative position tracking and attitude synchronization control problem with asymptotic tracking errors for spacecraft. Compared to previous studies, this article considers convergence speed and control accuracy simultaneously, ensuring the predefined-time stability and asymptotic convergence of the spacecraft relative tracking errors. The fuzzy logic systems are introduced to estimate the unknown nonlinear terms in the relative dynamic model. By combining the adaptive backstepping control method and the command filter technique, a relative position tracking and attitude synchronization control method is proposed. The improved filter compensation signals are designed to eliminate the impact of filtering errors on the control performance. With the proposed control method, the closed-loop spacecraft position and attitude control system can achieve predefined-time stability, and the spacecraft relative tracking errors can reach zero as time approaches infinity. Finally, simulation results are provided, fully demonstrating the effectiveness of the proposed method.

关键词： Space vehicles Attitude control Asymptotic stability Synchronization Convergence Vectors control theory Stability criteria Upper bound Target tracking Adaptive control asymptotically convergent improved filter compensation signal predefined-time control

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predefined-time adaptive fuzzy control for nonlinear systems with input saturation and deferred restriction

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NONLINEAR DYNAMICS 2025年第5期113卷 4727-4744页

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

This paper concentrates upon the predefined-time adaptive fuzzy tracking control issue of strict-feedback nonlinear systems subject to input saturation and deferred restriction. On account of intrinsic physical constraints and performance demands, input saturation and deferred restriction are common problems in engineering systems. To tackle these issues, a smooth function is utilized to estimate the actuator saturation, and then an improved auxiliary system is introduced to counterbalance the influence of input saturation. Moreover, the Lyapunov function incorporating the deferred-error-dependence function is created to work out the issue of deferred restriction. Combining backstepping technology with predefined-time stability theorem, a predefined-time adaptive fuzzy control algorithm is constructed, under which the boundary of convergence time is capable of being arbitrarily set ahead of schedule by designers, such freedom can be used to improve the finite/fixed-time control results. Two simulation outcomes are offered to validate the usefulness of the control algorithm.

关键词： Uncertain nonlinear systems predefined-time control Deferred restriction Input saturation

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predefined-time Hybrid Tracking control of Flexible Satellites with Conditional Anti-Unwinding

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JOURNAL OF GUIDANCE control AND DYNAMICS 2024年第11期47卷 2426-2434页

作者： Das, Gargi Sinha, Manoranjan Indian Inst Technol Kharagpur Dept Aerosp Engn Kharagpur 721302 W Bengal India

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Event-Based predefined-time Fuzzy Formation control for Nonlinear Multiagent Systems With Unknown Disturbances

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IEEE TRANSACTIONS ON FUZZY SYSTEMS 2024年第6期32卷 3497-3507页

作者： Ren, Dejie Liu, Yan-Jun Lan, Jie Liaoning Univ Technol Coll Elect Engn Jinzhou 121001 Peoples R China Liaoning Univ Technol Coll Sci Jinzhou 121001 Peoples R China

In this article, for a class of uncertain nonlinear multiagent systems (MASs) with external disturbances, it investigates adaptive state-based event-triggered predefined-time fuzzy formation control protocol. In order to decrease the hardware requirements of the systems and the interaction between agents, the protocol adopts the state-based event-triggered mechanism (ETM). Compared with most output-triggered mechanisms, the mechanism can reduce the computation and transmission load more effectively, and requires less information interaction. The fuzzy logic systems and distributed disturbance observer are used respectively to handle uncertain nonlinear functions and external disturbances in MASs. Furthermore, considering the convergence rate of the closed-loop system, a predefined-time tuning function is introduced to preset the system stabilization time. Considering the problem of decreasing the computational complexity, the dynamic surface control technique is introduced. The stability of the controlled system is analyzed by Lyapunov function theory. Finally, the feasibility and effectiveness of the control strategy are validated by the simulation.

关键词： Convergence Formation control Disturbance observers Fuzzy systems Tuning Multi-agent systems Vectors fuzzy control predefined-time control state-based event-triggered control (ETC)

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predefined-time Nonsingular Sliding Mode control and Its Application to Nonlinear Systems

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IEEE TRANSACTIONS ON INDUSTRIAL INFORMATICS 2024年第4期20卷 5829-5837页

作者： Jia, Chao Liu, Xiaohua Xu, Jingyu Tianjin Univ Technol Sch Elect Engn & Automat Tianjin 300384 Peoples R China

This article proposes a novel tunable predefined-time nonsingular sliding mode control (SMC). Based on the definition of tunable predefined-time stability (PTS), a new inequality condition is proposed to ensure the tunable PTS of the system and provides a detailed proof. Based on the proposed lemma, this article combines tunable PTS with SMC, which not only ensures the robustness of the system but also accurately estimates the boundary value of convergence time (CT), which is independent of controller parameters and initial states, and the actual CT is adjustable. In addition, this article solves the singularity problem of a traditional SMC. Finally, the effectiveness of the proposed method is verified by both simulation and physical experiments.

关键词： Nonsingular control predefined-time control robust nonlinear control sliding mode control (SMC)

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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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predefined-time event-triggered adaptive neural practical tracking control for flexible-joint robot

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TRANSACTIONS OF THE INSTITUTE OF MEASUREMENT AND control 2024年

作者： Yang, Man Liu, Siwen Wang, Huanqing Niu, Ben Shen, Haikuo Bohai Univ Coll Math Sci Jinzhou 121000 Peoples R China Shandong Normal Univ Sch Informat Sci & Engn Jinan Peoples R China Beijing Jiaotong Univ Sch Mech Elect & Control Engn Beijing Peoples R China

This paper researches the predefined-time event-triggered adaptive neural practical tracking control problem for flexible-joint robot system. An improved predefined-time command filter is utilized to get rid of the "explosion of complexity" problem, and the filter errors can be eliminated by an improved error compensation mechanism. Moreover, as an effective approximation tool, radial basis function neural networks are exploited to tackle the nonlinear terms existing in flexible-joint robot system. Finally, the communication burden of the system is reduced by using event-triggered technology, and an advanced adaptive predefined-time event-triggered controller is designed. The actual controller in the control scheme is updated only when it meets the conditions of the event-triggered mechanism. For flexible-joint robot system, the resulting control scheme makes the tracking error approach to a small neighborhood of zero, and all signals of the closed-loop system remain bounded within the predefined time. The effectiveness of the proposed controller is directly illustrated by the simulation results.

关键词： Radial basis function neural networks adaptive control predefined-time control event-triggered control flexible-joint robot system

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Adaptive Fuzzy predefined-time Cooperative Formation control for Multiple USVs With Universal Global Performance Constraints

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IEEE TRANSACTIONS ON INTELLIGENT TRANSPORTATION SYSTEMS 2025年

作者： Song, Xiaona Wu, Chenglin Lam, Hak-Keung Wang, Xin Song, Shuai Henan Univ Sci & Technol Sch Informat Engn Luoyang 471000 Peoples R China Henan Univ Sci & Technol Henan Key Lab Robot & Intelligent Syst Luoyang 471000 Peoples R China Kings Coll London Dept Engn London WC2R 2LS England Heilongjiang Univ Sch Math Sci Harbin 150080 Peoples R China

The problem of predefined-time cooperative formation control for multiple unmanned surface vehicles with sensor faults and universal global performance constraints is investigated in this paper. Initially, a generic performance constraint strategy is proposed by integrating an improved global performance function, which eliminates the subpar reconfigurability present in the specific performance function-based global constraint schemes. By embedding the saturation compensation function, a feedback mechanism between the saturation constraint and performance constraint is established, instead of cutting off the analysis separately, by giving the constraint boundaries the flexibility to expand and contract. Subsequently, the inherently unmodeled dynamics and uncertainties of the controlled vehicle are reconstructed online by interval type-2 fuzzy logic systems. By integrating the predefined-time differentiator into the recursive design framework, an adaptive fuzzy predefined-time formation protocol is developed to provide a streamlined solution for adjusting the settling time and facilitates engineering implementation. The stability analysis rigorously proves that all the variables are practical predefined-time bounded. The illustrative results verify the feasibility and functionality of the developed formation control strategy.

关键词： Formation control Vehicle dynamics Silicon Protocols Convergence Uncertainty Fuzzy logic Adaptive systems Explosions Autonomous vehicles Cooperative formation control global performance constraint interval type-2 fuzzy logic systems multiple unmanned surface vehicles predefined-time control

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Uncertainty and velocity observer-based predefined-time nonsingular terminal sliding mode control of the underwater robot manipulators

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EUROPEAN JOURNAL OF control 2024年 75卷

作者： Zaare, Saeed Soltanpour, Mohammad Reza Khatam Al Anbiya Univ Dept Elect Engn Tehran Iran IAU Marvdasht Branch Dept Elect Engn Marvdasht Iran Shahid Sattari Aeronaut Univ Sci & Technol Dept Elect Engn Tehran Iran

This paper introduces an observer-based predefined-time nonsingular terminal sliding mode control to the position tracking control of the n-degree-of-freedoms underwater robot manipulators subject to the uncertainty compensation and sensor reduction. The proposed sliding surface has only the sliding phase, while the reaching phase is eliminated using a continuous augmented function. Besides, the sliding phase is predefined-time, where it is independent of the initial conditions and control parameters. As a result, it has led to the development of a predefined-time control scheme, in which not only its convergence time is fast, but also (due to the elimination of the reaching phase) the effect of uncertainties in this phase is eliminated. Naturally, there is a wide range of uncertainties such as structured-unstructured uncertainties and/or un-modeled dynamics, ocean current, waves, etc., in the underwater robot manipulators and underwater conditions. Therefore, the proposed predefined-time nonsingular terminal sliding mode control is combined with a finite-time observer to estimate the underwater robot manipulator's joint velocity and eliminate the destructive effect of existing uncertainties. Under this combination, the stability analysis could guarantee predefined-time global asymptotic stability of the system in the presence of existing uncertainties. Simulation results are conducted on a 2-link underwater robot manipulator to validate the proposal.

关键词： Underwater robot manipulators Finite-time observer predefined-time control Sliding mode control Uncertainty and disturbance

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