Appointed-time prescribed performance attitude tracking control via double performance functions

Zhao, Yin; Suleman, Afzal; Luo, Jianjun; Wei, Caisheng

doi:10.1016/j.ast.2019.105337

Cited by 96 publications

(49 citation statements)

References 29 publications

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“…which is a binary signal. We have o(t k ), instead of the control signal v(t k ), be sent to the actuator at t k in (15). Once it is received, the actuator output is updated by (18) with u(t 0 ) the bounded initial value of the actuator output, not v(t 0 ).…”

Section: B Event-triggered Binary Communication Protocolmentioning

confidence: 99%

“…Once it is received, the actuator output is updated by (18) with u(t 0 ) the bounded initial value of the actuator output, not v(t 0 ). During every triggering interval, the control action is held constant, i.e., (15), not serial. This can also be accomplished by the existing ETC polices [21]- [29], with yet the broadcast of the sampled control signal.…”

Section: B Event-triggered Binary Communication Protocolmentioning

confidence: 99%

“…Putting (25) into (24) gives (20). It follows from (15) and (16) that |z(t)| < δ. Owing to (14), by (11)-(13) one has (21). This completes the proof.…”

Section: B Event-triggered Binary Communication Protocolmentioning

confidence: 99%

“…Unfortunately, the exponential convergence rate leads to infinite settling time. To overcome this difficulty, several finite-time PPC approaches [15]- [18] were proposed with yet using adaptive algorithms, neural networks, disturbance observers, and the assumption on parametric uncertainties, i.e., the system nonlinear functions are known. At no expensive of robustness and simplicity, finite-time convergence was achieved by modifying the error signal via a tuning function [19] or by imposing a finite-time convergent bound on the tracking error [20].…”

Section: Introductionmentioning

confidence: 99%

See 3 more Smart Citations

Finite-Time Tracking Control With Prescribed Accuracy for Unknown Nonlinear Systems by Event-Triggered Input

Ding

Zhang

2020

IEEE Access

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This paper is dealt with the tracking control problem for strict-feedback systems with unknown nonlinearities and unmatched disturbances as well as event-triggered input. A robust control scheme together with an event-triggered update protocol is proposed to solve the problem, which outperforms the existing solutions in the following aspects. First, it guarantees that the tracking error converges to a given bound in a prescribed finite time, unlike the results on exponential convergence with unknown accuracy. Second, for control implementation, only a sequence of binary command signals needs to be sent to the actuator. This further economizes the communication cost in comparison with the conventional event-triggered control protocols. Third, our controller exhibits a simplicity attribute, due to the avoidance of using approximating structures and estimating algorithms and to calculating or filtering certain signal derivatives. The above theoretical findings are illustrated via a comparative simulation study. INDEX TERMS Tracking control, finite-time convergence, predefined accuracy, nonlinear systems, event-triggered communication.

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Section: B Event-triggered Binary Communication Protocolmentioning

confidence: 99%

Section: B Event-triggered Binary Communication Protocolmentioning

confidence: 99%

“…Putting (25) into (24) gives (20). It follows from (15) and (16) that |z(t)| < δ. Owing to (14), by (11)-(13) one has (21). This completes the proof.…”

Section: B Event-triggered Binary Communication Protocolmentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

See 2 more Smart Citations

Finite-Time Tracking Control With Prescribed Accuracy for Unknown Nonlinear Systems by Event-Triggered Input

Ding

Zhang

2020

IEEE Access

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“…To solve this problem, Bechlioulis and Rovithakis proposed a brand-new control method, named as prescribed performance control (PPC), to quantitatively characterize the transient and steady-state performance of the controlled system in 2008 [25]. Due to its prominent advantage in the control performance synthesis, PPC has attracted considerable attention in the existing works [26], [27]. For example, a NN-based adaptive PPC scheme is formulated for uncertain nonlinear systems in [28].…”

Section: Introductionmentioning

confidence: 99%

Adaptive Fault-Tolerant Guaranteed Performance Control for Euler-Lagrange Systems With Its Application to a 2-Link Robotic Manipulator

Zhang

Cheng

2020

IEEE Access

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This paper investigates a novel adaptive fault-tolerant guaranteed performance control problem for Euler-Lagrange systems subject to unknown actuator faults. Firstly, a barrier Lyapunov function instead of logarithmic transformation is constructed to handle the performance constraints imposed on the controlled system. Then, an adaptive control scheme is devised to guarantee the prescribed tracking performance with consideration of the unknown actuator faults. Compared with the existing works, the prominent advantage of the proposed control method is that the detailed actuator fault information is not required to identify online and the complex logarithmic transformation is avoided. In this sense, the complexity of the developed controller is decreased dramatically, which is easily achievable in practice. Finally, application to a 2-link robotic manipulator is organized to validate the effectiveness of the proposed control method.

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Distributed appointed‐time prescribed performance attitude coordinated tracking for multiple rigid spacecraft under directed communication topology

Shi

Zhou

et al. 2022

Asian Journal of Control

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This paper addresses appointed‐time attitude coordinated control problem of multiple spacecraft under the directed communication topology in presence of input saturation. With only a subset of spacecrafts being able to access the information of the reference trajectory, a distributed observer is developed for each spacecraft to estimate the virtual leader's state in fixed time. Subsequently, to ensure the tracking error can achieve the preassigned transient and steady state performance, an adaptive backstepping controller is synthesized by incorporating an appointed‐time performance function with the asymmetric tan‐type barrier Lyapunov function (BLF). Furthermore, to tackle the input saturation constraint, a Nussbaum‐type function is incorporated to compensate for the time‐varying nonlinear gain arising from the derivative of the nonlinear approximation function. Different from most existing finite‐time coordination protocols, the convergence time can be appointed by the user without resorting to judicious control parameters selection. Finally, numerical simulation is conducted to assess the efficacy of the theoretical results.

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Appointed-time prescribed performance attitude tracking control via double performance functions

Cited by 96 publications

References 29 publications

Finite-Time Tracking Control With Prescribed Accuracy for Unknown Nonlinear Systems by Event-Triggered Input

Finite-Time Tracking Control With Prescribed Accuracy for Unknown Nonlinear Systems by Event-Triggered Input

Adaptive Fault-Tolerant Guaranteed Performance Control for Euler-Lagrange Systems With Its Application to a 2-Link Robotic Manipulator

Distributed appointed‐time prescribed performance attitude coordinated tracking for multiple rigid spacecraft under directed communication topology

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