A Practical Predefined-Time Stability Criterion and Its Application to Uncertain Nonlinear Systems  

作　　者：XU Hao YU Dengxiu SUI Shuai XU Bowen CHEN C.L.Philip 

机构地区：[1]Unmanned System Research Institute,Northwestern Polytechnical University,Xi'an 710072,China [2]College of Science,Liaoning University of Technology,Jinzhou 121001,China [3]School of Artificial Intelligence,Optics and Electronics,Northwestern Polytechnical University,Xi'an 710072,China [4]School of Computer Science and Engineering,South China University of Technology and Pazhou Lab,Guangzhou 510641,China

出　　处：《Journal of Systems Science & Complexity》2024年第6期2556-2578,共23页系统科学与复杂性学报（英文版）

基　　金：supported in part by the National Natural Science Foundation of China under Grant Nos.92267203,62373302,62333009,62176111,and 62333004;in part by the Key-Area Research and Development Program of Guangdong Province under Grant No.2023B0303030001;in part by the Program for Guangdong Introducing Innovative and Entrepreneurial Teams under Grant No.2019ZT08X214;in part by the Natural Science Foundation of Shaanxi Province under Grant No.2024JC-YBQN-0663;in part by Innovation Foundation for Doctor Dissertation of Northwestern Polytechnical University under Grant No.CX2023084。

摘　　要：In this paper,the singularity-free predefined-time fuzzy adaptive tracking control problem is studied for non-strict feedback(NSF)nonlinear systems considering mismatched external disturbances.An innovative practical predefined-time stability(PPTS)criterion is proposed to provide the theoretical basis for subsequent control design.Compared to the existing predefined-time stability(PTS)criterion,this criterion has a broader application range and can solve the control design issues of nonlinear systems with system uncertainties.Fuzzy logic systems(FLSs)are employed to identify unknown nonlinear functions.Based on the backstepping control technology,a singularity-free predefined-time control(PTC)design method is proposed,in which the hyperbolic tangent function is utilized to avoid the singular problem,and the nature of fuzzy basis function is adopted to resolve the algebraic loop problem.The PPTS of the closed-loop NSF nonlinear system is proven with the Lyapunov theory and the proposed PPTS criterion.Ultimately,the efficiency of the presented PTC design method is verified by several sets of simulations on a single link manipulator system.

关 键 词：Fuzzy adaptive control nonlinear systems practical predefined-time stability predefinedtime control singularity-free control 

分 类 号：TP13[自动化与计算机技术—控制理论与控制工程]