Abstract
Most autonomous systems can be described by Euler–Lagrange (EL) model. This article investigates the problem of prescribed time tracking control for EL systems in the presence of modeling uncertainties, prescribed performance requirements and time-varying state constraints. Two proportional–integral (PI)-like control schemes with time-varying gains are developed with several favorable features: (1) achieving prescribed tracking precision within finite time in the presence of modeling uncertainties; (2) state constraints being obeyed all the time; (3) both the final tracking accuracy and the setting time being preassigned irrespective of initial condition or any other constraining parameter; and (4) bearing simple PI structure with analytical formula for robust-adaptive tuning gains, and demanding inexpensive online computation. The benefits and effectiveness of the proposed control are also validated via numerical simulation.
| Original language | English |
|---|---|
| Pages (from-to) | 9723-9741 |
| Number of pages | 19 |
| Journal | International Journal of Robust and Nonlinear Control |
| Volume | 32 |
| Issue number | 18 |
| Early online date | 6 May 2021 |
| DOIs | |
| Publication status | Published - 1 Dec 2022 |
| Externally published | Yes |
Bibliographical note
Publisher Copyright:© 2021 John Wiley & Sons Ltd.
Funding
This work was supported in part by the National Natural Science Foundation of China under Grant 61991400, 61991403, 61860206008, 61773081, 61933012, 61833013, and 61803053.
Keywords
- actuation faults
- Euler–Lagrange systems
- PI-like control
- prescribed tracking precision
- state constraints