Fixed-time safe tracking control of uncertain high-order nonlinear pure-feedback systems via unified transformation functions

Guo, Chaoqun ; Hu, Jiangping ; Hao, Jiasheng ; Čelikovský, Sergej ; Hu, Xiaoming

Kybernetika, Tome 59 (2023) no. 3, pp. 342-364

Abstract (VO)

In this paper, a fixed-time safe control problem is investigated for an uncertain high-order nonlinear pure-feedback system with state constraints. A new nonlinear transformation function is firstly proposed to handle both the constrained and unconstrained cases in a unified way. Further, a radial basis function neural network is constructed to approximate the unknown dynamics in the system and a fixed-time dynamic surface control (FDSC) technique is developed to facilitate the fixed-time control design for the uncertain high-order pure-feedback system. Combined with the proposed unified transformation function and the FDSC technique, an adaptive fixed-time control strategy is proposed to guarantee the fixed-time tracking. The novel original results of the paper allow to design the independent unified flexible fixed-time control strategy taking into account the actual possible constraints, either present or missing. Numerical examples are presented to demonstrate the proposed fixed-time tracking control strategy.

Détail

DOI : 10.14736/kyb-2023-3-0342

Classification : 70K20, 93D15
Keywords: fixed-time safe control; nonlinear pure-feedback systems; state constrains; dynamic surface control; unified transformation function

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