Event-triggered predefined-time control for full-state constrained nonlinear systems: A novel command filtering error compensation method  

作　　者：PAN YingNan CHEN YiLin LIANG HongJing 

机构地区：[1]College of Control Science and Engineering,Bohai University,Jinzhou 121013,China [2]School of Automation Engineering,University of Electronic Science and Technology of China,Chengdu 611731,China [3]Laboratory of Electromagnetic Space Cognition and Intelligent Control,Beijing 100089,China

出　　处：《Science China(Technological Sciences)》2024年第9期2867-2880,共14页中国科学（技术科学英文版）

基　　金：supported by the Revitalization of Liaoning Talents Program(Grant No.XLYC2203201)。

摘　　要：In this paper, a command filter-based adaptive fuzzy predefined-time event-triggered tracking control problem is investigated for uncertain nonlinear systems with time-varying full-state constraints. By designing a sliding mode differentiator, the inherent computational complexity problem within the predefined-time backstepping framework is solved. Different from the existing command filter-based finite-time and fixed-time control strategies that the convergence time of the filtering error is adjusted through the system initial value or numerous parameters, a novel command filtering error compensation method is presented,which tunes one control parameter to make the filtering error converge in the predefined time, thereby reducing the complexity of design and analysis of processing the filtering error. Then, an improved event-triggered mechanism(ETM) that builds upon the switching threshold strategy, in which an inverse cotangent function is designed to replace the residual term of the ETM,is proposed to gradually release the controller's dependence on the residual term with increasing time. Furthermore, a tan-type nonlinear mapping technique is applied to tackle the time-varying full-state constraints problem. By the predefined-time stability theory, all signals in the uncertain nonlinear systems exhibit predefined-time stability. Finally, the feasibility of the proposed algorithm is substantiated through two simulation results.

关 键 词：predefined-time control command filtering error compensation method event-triggered mechanism time-varying full-state constraints uncertain nonlinear systems 

分 类 号：TP13[自动化与计算机技术—控制理论与控制工程]