Finite-time adaptive fuzzy control for strict feedback systems with asymmetric state constraints and prescribed performance

IF 4.2 3区计算机科学 Q2 AUTOMATION & CONTROL SYSTEMS

Journal of The Franklin Institute-engineering and Applied Mathematics Pub Date : 2025-09-19 DOI:10.1016/j.jfranklin.2025.108076

Zonglin Yang , Guang Ling , Zhi-Hong Guan , Yuan Ge , Ming-Feng Ge

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引用次数: 0

Abstract

In practical systems, it is crucial to achieve the prescribed performance under system constraints. A novel finite-time adaptive fuzzy control strategy is proposed for strict feedback nonlinear systems subject to Asymmetric Time-Varying State Constraints (ATSCs) and Predefined Performance Indices (PPI). The proposed method employs an asymmetric barrier Lyapunov function to guarantee that the system states remain within the ATSCs while simultaneously ensuring that the output tracking error remains within the PPI defined by the finite-time performance function (FTPF). Furthermore, the strategy incorporates a disturbance observer, a fuzzy state observer, and the Dynamic Surface Control (DSC), thereby enhancing the practical applicability and robustness of the control design. The semi-global practical finite-time stability (SPFS) of the closed-loop system is rigorously established using Lyapunov-based analysis. The study of a one-link manipulator has verified the theoretical results and demonstrated the effectiveness and feasibility of the proposed control method.

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具有非对称状态约束和规定性能的严格反馈系统的有限时间自适应模糊控制

在实际系统中，如何在系统约束下达到规定的性能是至关重要的。针对具有非对称时变状态约束和预定义性能指标的严格反馈非线性系统，提出了一种新的有限时间自适应模糊控制策略。该方法采用非对称屏障Lyapunov函数保证系统状态保持在atsc范围内，同时保证输出跟踪误差保持在有限时间性能函数（FTPF）定义的PPI范围内。此外，该策略还结合了扰动观测器、模糊状态观测器和动态表面控制（DSC），从而提高了控制设计的实用性和鲁棒性。利用李雅普诺夫分析严格建立了闭环系统的半全局实际有限时间稳定性。通过对单连杆机械手的研究，验证了理论结果，证明了所提控制方法的有效性和可行性。

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

Journal of The Franklin Institute-engineering and Applied Mathematics 工程技术-工程：电子与电气

CiteScore

7.30

自引率

14.60%

发文量

586

审稿时长

6.9 months

期刊介绍： The Journal of The Franklin Institute has an established reputation for publishing high-quality papers in the field of engineering and applied mathematics. Its current focus is on control systems, complex networks and dynamic systems, signal processing and communications and their applications. All submitted papers are peer-reviewed. The Journal will publish original research papers and research review papers of substance. Papers and special focus issues are judged upon possible lasting value, which has been and continues to be the strength of the Journal of The Franklin Institute.