Geodesic
Fixed-time safe tracking control of uncertain high-order nonlinear pure-feedback systems via unified transformation functions
Kybernetika, Tome 59 (2023) no. 3, pp. 342-364

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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.
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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     author = {Guo, Chaoqun and Hu, Jiangping and Hao, Jiasheng and \v{C}elikovsk\'y, Sergej and Hu, Xiaoming},
     title = {Fixed-time safe tracking control of uncertain high-order nonlinear pure-feedback systems via unified transformation functions},
     journal = {Kybernetika},
     pages = {342--364},
     publisher = {mathdoc},
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     number = {3},
     year = {2023},
     doi = {10.14736/kyb-2023-3-0342},
     language = {en},
     url = {http://geodesic.mathdoc.fr/articles/10.14736/kyb-2023-3-0342/}
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Guo, Chaoqun; Hu, Jiangping; Hao, Jiasheng; Čelikovský, Sergej; Hu, Xiaoming. Fixed-time safe tracking control of uncertain high-order nonlinear pure-feedback systems via unified transformation functions. Kybernetika, Tome 59 (2023) no. 3, pp. 342-364. doi: 10.14736/kyb-2023-3-0342

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