Asymptotic tracking control for uncertain interconnected time-delay nonlinear systems with enhanced 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 : 2025-09-10 DOI:10.1016/j.jfranklin.2025.108053

Ranxin Dong , Changchun Hua , Hao Li , Pengju Ning , Ranbo Dong

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引用次数: 0

Abstract

For nonlinear systems with state interconnection and time-delay, a unified finite-time prescribed performance control (FTPPC) method is proposed. To unify the traditional funnel-shaped finite-time prescribed performance functions (FTPPFs) and enhanced tunnel-shaped FTPPFs into one expression, this paper designs the novel FTPPFs which are related to the initial values of the tracking errors. By integrating the designed FTPPFs with appropriate adaptation laws, a decentralized control algorithm which achieves asymptotic tracking is developed. The proposed controllers also remove the limitation that the design parameters depend on the initial values of virtual errors. The boundedness of all closed-loop signals is rigorously proved by Lyapunov functions. Finally, the effectiveness of the proposed controllers is verified through the practical simulation and comparative simulation.

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具有增强规定性能的不确定互联时滞非线性系统的渐近跟踪控制

针对具有状态互联和时滞的非线性系统，提出了一种统一的有限时间规定性能控制（FTPPC）方法。为了将传统的隧道型有限时间规定性能函数（ftppf）和改进的隧道型有限时间规定性能函数统一为一个表达式，设计了与跟踪误差初值相关的新型ftppf。通过将所设计的ftppf与适当的自适应律相结合，提出了一种实现渐近跟踪的分散控制算法。该控制器还消除了设计参数依赖于虚误差初始值的限制。用李雅普诺夫函数严格证明了所有闭环信号的有界性。最后，通过实际仿真和对比仿真验证了所提控制器的有效性。

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

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.