Fixed-time safe tracking control of uncertain high-order nonlinear pure-feedback systems via unified transformation functionsShow others and affiliations
Number of Authors: 52023 (English)In: Kybernetika (Praha), ISSN 0023-5954, E-ISSN 1805-949X, Vol. 59, no 3, p. 342-364
Article in journal (Refereed) Published
Abstract [en]
In this paper, a fixed-time safe control problem is investigated for an uncertain high-order nonlinear pure-feedback system with state constraints. A new nonlinear transformation function is firstly proposed to handle both the constrained and unconstrained cases in a unified way. Further, a radial basis function neural network is constructed to approximate the unknown dynamics in the system and a fixed-time dynamic surface control (FDSC) technique is developed to facilitate the fixed-time control design for the uncertain high-order pure-feedback system. Combined with the proposed unified transformation function and the FDSC technique, an adaptive fixed-time control strategy is proposed to guarantee the fixed-time tracking. The novel original results of the paper allow to design the independent unified flexible fixed-time control strategy taking into account the actual possible constraints, either present or missing. Numerical examples are presented to demonstrate the proposed fixed-time tracking control strategy.
Place, publisher, year, edition, pages
Institute of Information Theory and Automation , 2023. Vol. 59, no 3, p. 342-364
Keywords [en]
dynamic surface control, fixed-time safe control, nonlinear pure-feedback systems, state constrains, unified transformation function
National Category
Control Engineering Robotics and automation
Identifiers
URN: urn:nbn:se:kth:diva-333878DOI: 10.14736/kyb-2023-3-0342ISI: 001039582300002Scopus ID: 2-s2.0-85165328854OAI: oai:DiVA.org:kth-333878DiVA, id: diva2:1788001
Note
QC 20240301
2023-08-152023-08-152025-02-05Bibliographically approved