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A bounded-mapping-based prescribed constraint tracking control method without initial condition
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DOI：10.1007/s11071-022-08012-2.png)
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摘要
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Based on a backstepping technique, a prescribed constraint tracking control method without initial conditions is investigated for a class of strict-feedback nonlinear systems with actuator saturation and external disturbances. Unlike the existing constraint control method without initial conditions, the proposed method gives another refreshing solution by means of a bounded nonlinear mapping function, as well as two proposed prescribed performance constraint functions whose design is unrelated to the initial tracking conditions. The setting time when the constrained tracking error enters into a prescribed region is a design parameter that can be set according to any reasonable requirements. A prescribed performance constraint tracking controller is designed, and it guarantees that the tracking error of the nonlinear system gets into a prescribed constraint region from different initial values no later than a setting time, and both the transient and steady-state performance of the system is ensured. A comparison with the existing method is given, and the effectiveness and superiority of the proposed method are demonstrated using two practical examples.
Keyword:
Nonlinear systems
Prescribed constraint control
Nonlinear mapping
Prescribed performance constraint function
Initial condition
期刊
IF:
6
论文数:
1.4W
被引数:
4.1W
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