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Journal Article

Non-Singular Fixed-Time Tracking Control of Uncertain Nonlinear Pure-Feedback Systems With Practical State Constraints

Guo Ch., Hu J., Wu Y., Čelikovský Sergej

: IEEE TRANSACTIONS ON CIRCUITS AND SYSTEMS I-REGULAR PAPERS vol.70, 9 (2023), p. 3746-3758

: GA21-03689S, GA ČR

: Fixed-time tracking control, Nonlinear purefeedback system, State constraint, Nonlinear transformation function, Adding a power integrator technique.

: 10.1109/TCSI.2023.3291700

: http://library.utia.cas.cz/separaty/2023/TR/celikovsky-0575057.pdf

: https://ieeexplore.ieee.org/document/10189394

(eng): In this paper, a fixed-time tracking control problem is investigated for an uncertain high-order nonlinear purefeedback systems with practical state constraints. To this end, a new nonlinear transformation function with lower change rate at the state constraint boundary is first proposed, which can not only handle both constrained and unconstrained states in a unified way, but also reduce the control magnitude at the constraint boundary. With the help of the proposed transformation function, the original system is transformed to a new system without state constraints. Then, a non-singular fixed-time adaptive tracking controller is designed by applying an adding a power integrator technique and an adaptive neural network method. It is shown that the practical fixed-time stability can be guaranteed for the closed-loop system under the proposed tracking controller.\nFinally, two numerical examples are presented to demonstrate the proposed fixed-time tracking control strategy.

: BC

: 20205

07.01.2019 - 08:39