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Fixed-time safe tracking control of uncertain high-order nonlinear pure-feedback systems via unified transformation functions
School of Automation Engineering, University of Electronic Science and Technology of China, Chengdu 611731, Sichuan, P.R. China, Sichuan; Yangtze Delta Region Institute (Huzhou), University of Electronic Science and Technology of China, Huzhou 313001. P. R. China.
School of Automation Engineering, University of Electronic Science and Technology of China, Chengdu 611731, Sichuan, P.R. China, Sichuan; Yangtze Delta Region Institute (Huzhou), University of Electronic Science and Technology of China, Huzhou 313001. P. R. China.
School of Automation Engineering, University of Electronic Science and Technology of China, Chengdu 611731, Sichuan, P.R. China, Sichuan.
The Czech Academy of Sciences, Institute of Information Theory and Automation, Pod Vodárenskou věží 4, 18208 Praha 8. Czech Republic, Pod Vodárenskou věží 4.
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Number of Authors: 52023 (English)In: Kybernetika (Praha), ISSN 0023-5954, E-ISSN 1805-949X, Vol. 59, no 3, p. 342-364Article 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

Available from: 2023-08-15 Created: 2023-08-15 Last updated: 2025-02-05Bibliographically approved

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Hu, Xiaoming

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