Command Filter-Based Predefined Time Adaptive Control for Nonlinear Systems

2024/05/13 by Shuai Sui, C. L. Philip Chen, Shaocheng Tong · 4 citations
Engineering · #Advanced Algorithms and Applications #Adaptive Control of Nonlinear Systems #Advanced Sensor and Control Systems

paper · doi:10.1109/tac.2024.3399998

Abstract

This paper studies the predefined-time adaptive control problem for a class of strict-feedback nonlinear systems with parametric uncertainties and disturbances. A new practical predefined time stable (PPTS) criterion is first presented as the theoretical basis of predefined time control design, and then a new nonlinear command filter is designed. Based on the established PPTS criterion and backstepping control design technique, a command filter based predefined time adaptive backstepping control scheme is developed. The proposed control method can guarantee the control system to be PPTS and the tracking error converges to a small neighborhood around zero. Moreover, it can overcome the computational complexity and control singular problems. Finally, the simulation and comparisons are provided to verify the predefined time control performance.

Citations

• A new class of finite-time nonlinear consensus protocols for multi-agent systems

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