A predefined time decentralized adaptive tracking control method for interconnected nonlinear systems

Abstract

SummaryIn this paper, the problem of predefined time adaptive decentralized tracking control for a class of interconnected nonlinear systems is investigated. Firstly, a time‐varying constraint function is introduced to convert the tracking control problem into one with a constraint on tracking error, which can successfully remove the restriction of initial conditions. Secondly, the asymmetric constraint requirements on tracking error are achieved via defining a novel coordinate transformation function. Then, based on the proposed constraint function and the backstepping method, a decentralized adaptive controller is constructed. Furthermore, it is proved that all signals of the closed‐loop system are globally uniformly ultimately bounded (GUUB) via Lyapunov stability theory. Finally, the effectiveness of the proposed scheme is confirmed by two simulation examples.