Constrained fast finite-time exact tracking for disturbed nonlinear systems

Xiang Chen; Shiqi Zheng; Choon Ki Ahn; Yuanlong Xie; Peng Shi

doi:10.1002/rnc.6037

Constrained fast finite-time exact tracking for disturbed nonlinear systems

Xiang Chen, Shiqi Zheng, Choon Ki Ahn, Yuanlong Xie, Peng Shi

Research output: Contribution to journal › Article › peer-review

4 Citations (Scopus)

Abstract

This article investigates the fast finite-time exact tracking problem for nonlinear systems with time-varying disturbances. A new composite controller with a finite-time disturbance observer is proposed to achieve fast finite-time exact tracking. Furthermore, a new time-varying barrier power integrator technique is developed to design the controller. This can ensure not only asymmetric/symmetric time-varying full-state constraints but also singular-free continuous control effort. To reduce the complexity of computation, fuzzy logic systems are adopted to approximate complex nonlinearities. Finally, an example of single-link robot systems subject to time-varying disturbances is presented to show the validity of the proposed method.

Original language	English
Pages (from-to)	4376-4400
Number of pages	25
Journal	International Journal of Robust and Nonlinear Control
Volume	32
Issue number	7
DOIs	https://doi.org/10.1002/rnc.6037
Publication status	Published - 2022 May 10

Bibliographical note

Funding Information:
Higher Education Discipline Innovation Project, B17040; National Natural Science Foundation of China, 52105019; 61703376; National Research Foundation of Korea, NRF‐2020R1A2C1005449; Open Research Projects of Zhejiang Lab Funding information

Funding Information:
The work was supported in part by the National Natural Science Foundation of China (Grant No. 52105019, No. 61703376), Open Research Projects of Zhejiang Lab, 111 project (Grant No. B17040) and in part by the National Research Foundation of Korea (NRF) grant funded by the Korea government (Ministry of Science and ICT) under Grant NRF‐2020R1A2C1005449.

Publisher Copyright:
© 2022 John Wiley & Sons Ltd.

Keywords

fast finite-time tracking control
finite-time disturbance observer
full-state constraints
nonlinear systems

ASJC Scopus subject areas

Control and Systems Engineering
Chemical Engineering(all)
Biomedical Engineering
Aerospace Engineering
Mechanical Engineering
Industrial and Manufacturing Engineering
Electrical and Electronic Engineering

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10.1002/rnc.6037

Cite this

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abstract = "This article investigates the fast finite-time exact tracking problem for nonlinear systems with time-varying disturbances. A new composite controller with a finite-time disturbance observer is proposed to achieve fast finite-time exact tracking. Furthermore, a new time-varying barrier power integrator technique is developed to design the controller. This can ensure not only asymmetric/symmetric time-varying full-state constraints but also singular-free continuous control effort. To reduce the complexity of computation, fuzzy logic systems are adopted to approximate complex nonlinearities. Finally, an example of single-link robot systems subject to time-varying disturbances is presented to show the validity of the proposed method.",

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AU - Xie, Yuanlong

AU - Shi, Peng

N1 - Funding Information: Higher Education Discipline Innovation Project, B17040; National Natural Science Foundation of China, 52105019; 61703376; National Research Foundation of Korea, NRF‐2020R1A2C1005449; Open Research Projects of Zhejiang Lab Funding information Funding Information: The work was supported in part by the National Natural Science Foundation of China (Grant No. 52105019, No. 61703376), Open Research Projects of Zhejiang Lab, 111 project (Grant No. B17040) and in part by the National Research Foundation of Korea (NRF) grant funded by the Korea government (Ministry of Science and ICT) under Grant NRF‐2020R1A2C1005449. Publisher Copyright: © 2022 John Wiley & Sons Ltd.

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Y1 - 2022/5/10

N2 - This article investigates the fast finite-time exact tracking problem for nonlinear systems with time-varying disturbances. A new composite controller with a finite-time disturbance observer is proposed to achieve fast finite-time exact tracking. Furthermore, a new time-varying barrier power integrator technique is developed to design the controller. This can ensure not only asymmetric/symmetric time-varying full-state constraints but also singular-free continuous control effort. To reduce the complexity of computation, fuzzy logic systems are adopted to approximate complex nonlinearities. Finally, an example of single-link robot systems subject to time-varying disturbances is presented to show the validity of the proposed method.

AB - This article investigates the fast finite-time exact tracking problem for nonlinear systems with time-varying disturbances. A new composite controller with a finite-time disturbance observer is proposed to achieve fast finite-time exact tracking. Furthermore, a new time-varying barrier power integrator technique is developed to design the controller. This can ensure not only asymmetric/symmetric time-varying full-state constraints but also singular-free continuous control effort. To reduce the complexity of computation, fuzzy logic systems are adopted to approximate complex nonlinearities. Finally, an example of single-link robot systems subject to time-varying disturbances is presented to show the validity of the proposed method.

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Constrained fast finite-time exact tracking for disturbed nonlinear systems

Abstract

Bibliographical note

Keywords

ASJC Scopus subject areas

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