Command Filter-Based Predefined Time Adaptive Control for Nonlinear Systems

• Published in: IEEE transactions on automatic control Vol. 69; no. 11; pp. 7863 - 7870
• Main Authors: Sui, Shuai, Chen, C. L. Philip, Tong, Shaocheng
• Format: Journal Article
• Language: English
• Published: New York IEEE 01.11.2024; The Institute of Electrical and Electronics Engineers, Inc. (IEEE)
• Subjects: Adaptive control; Adaptive systems; Adaptive tracking control; Backstepping; Control design; Control methods; Control systems; Control systems design; Convergence; Criteria; Nonlinear control; Nonlinear systems; predefined time control; predefined time filter; Stability criteria; Tracking errors; Uncertain systems
• ISSN: 0018-9286; 1558-2523
• DOI: 10.1109/TAC.2024.3399998

In this article, we study the predefined-time adaptive control problem for a class of strict-feedback nonlinear systems with parametric uncertainties and disturbances. A new practical predefined time stable (PPTS) criterion is first presented as the theoretical basis of predefined time control design, and then a new nonlinear command filter is designed. Based on the established PPTS criterion and backstepping control design technique, a command filter-based predefined time adaptive backstepping control scheme is developed. The proposed control method can guarantee the control system to be PPTS and the tracking error converges to a small neighborhood around zero. Moreover, it can overcome the computational complexity and control singular problems. Finally, the simulation and comparisons are provided to verify the predefined time control performance.