Prescribed-Time Tracking With Guaranteed Transient Performance for Strict-Feedback Nonlinear Systems

IF 3.2 3区计算机科学 Q2 AUTOMATION & CONTROL SYSTEMS

International Journal of Robust and Nonlinear Control Pub Date : 2025-04-16 DOI:10.1002/rnc.7992

Xiaoyi Tian, Xu Han, Ruicheng Ma, Yuanchao Qu

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Abstract

This paper researches the prescribed-time tracking (PTT) with guaranteed transient performance for a class of nonlinear systems. The guaranteed transient performance means that the tracking error would be constrained with a pair of decaying exponential bounds. First, by introducing a convergence-invariant unbounded transformation, a new transformed system is given by incorporating the prescribed performance bounds (PPBs) into the original system. Second, the control law is designed by backstepping technique with the quadratic Lyapunov function, in which a fractional term plays a significant role in accomplish PTT with guaranteed transient performance. Then, the PTT with guaranteed transient performance is achieved, and the output tracking error converges to zero within prescribed time and remains at equilibrium thereafter, while the boundedness of all closed-loop signals is assured. Finally, two examples are given to illustrate the effectiveness of the proposed results.

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严格反馈非线性系统具有保证暂态性能的规定时间跟踪

研究了一类非线性系统具有保证暂态性能的规定时间跟踪问题。保证瞬态性能意味着跟踪误差将受到一对衰减指数界的约束。首先，通过引入收敛不变无界变换，将规定的性能界（PPBs）纳入原系统，得到新的变换系统。其次，采用二次Lyapunov函数反演技术设计控制律，其中分数项对保证暂态性能的PTT起重要作用。然后，实现了保证暂态性能的PTT，输出跟踪误差在规定时间内收敛为零，此后保持平衡状态，同时保证了所有闭环信号的有界性。最后，给出了两个算例来说明所提结果的有效性。

本文章由计算机程序翻译，如有差异，请以英文原文为准。

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来源期刊

International Journal of Robust and Nonlinear Control 工程技术-工程：电子与电气

CiteScore

6.70

自引率

20.50%

发文量

505

审稿时长

2.7 months

期刊介绍： Papers that do not include an element of robust or nonlinear control and estimation theory will not be considered by the journal, and all papers will be expected to include significant novel content. The focus of the journal is on model based control design approaches rather than heuristic or rule based methods. Papers on neural networks will have to be of exceptional novelty to be considered for the journal.