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A predefined time decentralized adaptive tracking control method for interconnected nonlinear systems
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DOI：10.1002/rnc.6806.png)
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Abstract
En 中文
In 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.
Keywords:
adaptive control
decentralized control
interconnected nonlinear systems
predefined time control
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3.2
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