A predefined time decentralized adaptive tracking control method for interconnected nonlinear systems

Abstract

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.