Abstract
Many important engineering applications involve control design for Euler-Lagrange (EL) systems. In this article, the practical prescribed time tracking control problem of EL systems is investigated under partial or full state constraints. A settling time regulator is introduced to construct a novel performance function, with which a new neural adaptive control scheme is developed to achieve pregiven tracking precision within the prescribed time. With the specific system transformation techniques, the problem of state constraints is transformed into the boundedness of new variables. The salient feature of the proposed control methods lies in the fact that not only the settling time and tracking precision are at the user's disposal but also both partial state and full state constraints can be accommodated concurrently without the need for changing the control structure. The effectiveness of this approach is further verified by the simulation results.
| Original language | English |
|---|---|
| Pages (from-to) | 13096-13105 |
| Number of pages | 10 |
| Journal | IEEE Transactions on Cybernetics |
| Volume | 52 |
| Issue number | 12 |
| Early online date | 3 Sept 2021 |
| DOIs | |
| Publication status | Published - Dec 2022 |
| Externally published | Yes |
Bibliographical note
This article was recommended by Associate Editor R.-E. Precup.Publisher Copyright:
© 2021 IEEE.
Funding
This work was supported in part by the National Key Research and Development Program of China under Grant 2018YFB1306900; in part by the National Natural Science Foundation of China under Grant U1913603, Grant 61803053, Grant 61833013, Grant 61860206008, and Grant 61773081; in part by Zhejiang Laboratory under Grant 2019NB0AB06; in part by China Postdoctoral Science Foundation under Grant 2021M692567; and in part by the Guangdong Basic and Applied Basic Research Foundation under Grant 2020A1515111187.
Keywords
- Euler-Lagrange (EL) systems
- practical prescribed time control
- state constraints