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Journal Article

FIXED-TIME SAFE TRACKING CONTROL OF SYSTEMS VIA UNIFIED TRANSFORMATION FUNCTIONS

Guo Ch., Hu J., Hao J., Čelikovský Sergej, Hu X.

: Kybernetika vol.59, 3 (2023), p. 342-364

: GA21-03689S, GA ČR

: Fixed-time safe control, Nonlinear pure-feedback systems, State constrains, State constrains, Dynamic surface control, Unified transformation function

: 10.14736/kyb-2023-3-0342

: http://library.utia.cas.cz/separaty/2023/TR/celikovsky-0573491.pdf

: https://www.kybernetika.cz/content/2023/3/342

(eng): 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.

: BC

: 20205

07.01.2019 - 08:39