TY - JOUR
T1 - Robust adaptive prescribed performance control for nonlinear systems with arbitrary initial states
AU - Chen, Shiwei
AU - Wang, Wei
AU - Fan, Junfang
N1 - Publisher Copyright:
© 2024 The Franklin Institute
PY - 2024/12
Y1 - 2024/12
N2 - The initial state of nonlinear MIMO strict feedback systems is often unpredictable and random, and existing prescribed performance control (PPC) techniques can only guarantee system output constraints within a fixed initial value performance boundary. In this paper, an adaptive PPC method tailored for nonlinear systems was introduced, enabling the system stable tracking regardless of the arbitrary initial states. To guarantee that the tracking error consistently meets the prescribed performance boundary(PPB) envelope, we introduce a nonlinear mapping between the initial value of the prescribed performance functions(PPFs) and the system tracking errors, resulting in an asymmetric time-varying performance boundary. Building upon this foundation, an adaptive PPC scheme is proposed under the backstepping framework, integrated with a nonlinear disturbance observer (NDO). This method ensures that the tracking error remains within the desired PPB, regardless of external disturbances or system initial states. To prevent ‘complexity explosion’, a dynamic surface control (DSC) technology is employed to filter the virtual control signals of each subsystem. Furthermore, the ultimate uniform boundedness of the closed-loop signal has been demonstrated, and a practical flight vehicles roll control case was introduced to validate the efficacy of the proposed method.
AB - The initial state of nonlinear MIMO strict feedback systems is often unpredictable and random, and existing prescribed performance control (PPC) techniques can only guarantee system output constraints within a fixed initial value performance boundary. In this paper, an adaptive PPC method tailored for nonlinear systems was introduced, enabling the system stable tracking regardless of the arbitrary initial states. To guarantee that the tracking error consistently meets the prescribed performance boundary(PPB) envelope, we introduce a nonlinear mapping between the initial value of the prescribed performance functions(PPFs) and the system tracking errors, resulting in an asymmetric time-varying performance boundary. Building upon this foundation, an adaptive PPC scheme is proposed under the backstepping framework, integrated with a nonlinear disturbance observer (NDO). This method ensures that the tracking error remains within the desired PPB, regardless of external disturbances or system initial states. To prevent ‘complexity explosion’, a dynamic surface control (DSC) technology is employed to filter the virtual control signals of each subsystem. Furthermore, the ultimate uniform boundedness of the closed-loop signal has been demonstrated, and a practical flight vehicles roll control case was introduced to validate the efficacy of the proposed method.
KW - Arbitrary initial states
KW - Asymmetric time-varying performance boundary
KW - Nonlinear MIMO strict feedback system
KW - Output constraint
UR - http://www.scopus.com/inward/record.url?scp=85207571469&partnerID=8YFLogxK
U2 - 10.1016/j.jfranklin.2024.107321
DO - 10.1016/j.jfranklin.2024.107321
M3 - Article
AN - SCOPUS:85207571469
SN - 0016-0032
VL - 361
JO - Journal of the Franklin Institute
JF - Journal of the Franklin Institute
IS - 18
M1 - 107321
ER -