Affiliation:
1. School of Automation Engineering University of Electronic Science and Technology of China Sichuan China
2. Yangtze Delta Region Institute University of Electronic Science and Technology of China Zhejiang China
3. Laboratory of Electromagnetic Space Cognition and Intelligent Control Beijing China
4. School of Computer Science and Engineering South China University of Technology Guangdong China
Abstract
AbstractIn view of the input dead‐zone, unknown control direction and difficulty in satisfying the prescribed performance that suffered in practical systems, an improved prescribed performance‐based adaptive control scheme is stressed for uncertain nonlinear systems in this paper. Firstly, by adopting a characteristic function, the input dead‐zone is linearized to a model with bounded perturbation. To settle the “computation complexity” issue, an adaptive controller is built via command filter design method, where the fuzzy logic systems are introduced to approximate the unknown nonlinearities. Meanwhile, the Nussbaum function is brought in controller design to counter the hardship of unknown control direction. Besides, the tracking error can be restricted in the prescribed boundary in finite time with the improved performance function. The presented control approach can not only ensure the finite‐time convergence property of tracking error and the boundedness of all signals in the closed‐loop system, but also easily implement in engineering. Finally, the simulation examples confirm the validity of the designed control scheme.
Funder
National Natural Science Foundation of China
Subject
Electrical and Electronic Engineering,Industrial and Manufacturing Engineering,Mechanical Engineering,Aerospace Engineering,Biomedical Engineering,General Chemical Engineering,Control and Systems Engineering