Prescribed performance control of Euler–Lagrange systems tracking targets with unknown trajectory

Shilei TAN; Libei SUN; Yongduan SONG

doi:10.1016/j.neucom.2022.01.058

Prescribed performance control of Euler–Lagrange systems tracking targets with unknown trajectory

Shilei TAN
, Libei SUN
, Yongduan SONG^*

^*Corresponding author for this work

Research output: Journal Publications › Journal Article (refereed) › peer-review

14 Citations (Scopus)

Abstract

The problem of tracking uncertain target is interesting and challenging. This paper studies the target tracking control problem of Euler–Lagrange system with unknown target trajectory. Fourier series and neural network are utilized to reconstruct the target trajectory, which is mathematically linked with the actual camouflaged target trajectory and facilitates the design and analysis. An error transformation function is introduced and embedded with the Lyapunov function, with which an adaptive tracking control scheme is developed. It is shown that such strategy is able to ensure the tracking error converging to a prescribed compact set containing the origin at a self-defined convergence rate. The simulation results verify the effectiveness of the proposed control method.

Original language	English
Pages (from-to)	212-219
Number of pages	8
Journal	Neurocomputing
Volume	480
Early online date	20 Jan 2022
DOIs	https://doi.org/10.1016/j.neucom.2022.01.058
Publication status	Published - 1 Apr 2022
Externally published	Yes

Bibliographical note

Publisher Copyright:
© 2022 Elsevier B.V.

Funding

This work was supported in part by the National Natural Science Foundation of China (Grant No. 61933012, 61773081 and 61860206008) and in part by the Graduate Research and Innovation Foundation of Chongqing (Grant No. CYS20069).

Keywords

Euler–Lagrange systems
Lyapunov stability
Neural network
Prescribed performance
Unknown desired trajectory

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10.1016/j.neucom.2022.01.058

Cite this

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title = "Prescribed performance control of Euler–Lagrange systems tracking targets with unknown trajectory",

abstract = "The problem of tracking uncertain target is interesting and challenging. This paper studies the target tracking control problem of Euler–Lagrange system with unknown target trajectory. Fourier series and neural network are utilized to reconstruct the target trajectory, which is mathematically linked with the actual camouflaged target trajectory and facilitates the design and analysis. An error transformation function is introduced and embedded with the Lyapunov function, with which an adaptive tracking control scheme is developed. It is shown that such strategy is able to ensure the tracking error converging to a prescribed compact set containing the origin at a self-defined convergence rate. The simulation results verify the effectiveness of the proposed control method.",

keywords = "Euler–Lagrange systems, Lyapunov stability, Neural network, Prescribed performance, Unknown desired trajectory",

author = "Shilei TAN and Libei SUN and Yongduan SONG",

note = "Publisher Copyright: {\textcopyright} 2022 Elsevier B.V.",

year = "2022",

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doi = "10.1016/j.neucom.2022.01.058",

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T1 - Prescribed performance control of Euler–Lagrange systems tracking targets with unknown trajectory

AU - TAN, Shilei

AU - SUN, Libei

AU - SONG, Yongduan

PY - 2022/4/1

Y1 - 2022/4/1

N2 - The problem of tracking uncertain target is interesting and challenging. This paper studies the target tracking control problem of Euler–Lagrange system with unknown target trajectory. Fourier series and neural network are utilized to reconstruct the target trajectory, which is mathematically linked with the actual camouflaged target trajectory and facilitates the design and analysis. An error transformation function is introduced and embedded with the Lyapunov function, with which an adaptive tracking control scheme is developed. It is shown that such strategy is able to ensure the tracking error converging to a prescribed compact set containing the origin at a self-defined convergence rate. The simulation results verify the effectiveness of the proposed control method.

AB - The problem of tracking uncertain target is interesting and challenging. This paper studies the target tracking control problem of Euler–Lagrange system with unknown target trajectory. Fourier series and neural network are utilized to reconstruct the target trajectory, which is mathematically linked with the actual camouflaged target trajectory and facilitates the design and analysis. An error transformation function is introduced and embedded with the Lyapunov function, with which an adaptive tracking control scheme is developed. It is shown that such strategy is able to ensure the tracking error converging to a prescribed compact set containing the origin at a self-defined convergence rate. The simulation results verify the effectiveness of the proposed control method.

KW - Euler–Lagrange systems

KW - Lyapunov stability

KW - Neural network

KW - Prescribed performance

KW - Unknown desired trajectory

UR - https://www.scopus.com/pages/publications/85123727430

U2 - 10.1016/j.neucom.2022.01.058

DO - 10.1016/j.neucom.2022.01.058

M3 - Journal Article (refereed)

AN - SCOPUS:85123727430

SN - 0925-2312

VL - 480

SP - 212

EP - 219

JO - Neurocomputing

JF - Neurocomputing

ER -

Prescribed performance control of Euler–Lagrange systems tracking targets with unknown trajectory

Abstract

Bibliographical note

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Keywords

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