Finite time state tracking control based on prescribed performance for a class of constrained nonlinear systems

Wang, Yunshuo; Su, Baili; Guo, Benshuai

doi:10.1002/rnc.6743

Cited by 4 publications

(2 citation statements)

References 36 publications

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“…With the increasing development of science and technology, modern industry presents the characteristics of complex structure, large scale, multiple constraints and strong coupling between subsystems. Centralized model predictive control (MPC) methods have been unable to deal with such problems 1–3 . In order to deal with more complex systems, more studies have focused on distributed model predictive control (DMPC) 4–6 …”

Section: Introductionmentioning

confidence: 99%

Observer‐based event‐triggered distributed model predictive control for a class of nonlinear interconnected systems

Li,

Su,

Guo

2024

Intl J Robust & Nonlinear

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In this paper, an observer‐based event‐triggered distributed model predictive control method is proposed for a class of nonlinear interconnected systems with bounded disturbances, considering unmeasurable states. First of all, the state observer is constructed. It is proved that the observation error is bounded. Second, distributed model predictive controller is designed by using observed value. Meanwhile, the event‐triggered mechanism is set by using the error between the actual output and the predicted output. The setting of event‐triggered mechanism not only ensures the error between the actual output and the predicted output within a certain range, but also reduces the calculation amounts of solving the optimization problem. The states of each subsystem enter the terminal invariant set by distributed model predictive control, and then are stabilized in the invariant set under the action of output feedback control law. In addition, sufficient conditions are given to ensure the feasibility of the algorithm and the stability of the closed‐loop system. Finally, the numerical example is given, and the simulation results verify the effectiveness of the proposed algorithm.

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Section: Introductionmentioning

confidence: 99%

Observer‐based event‐triggered distributed model predictive control for a class of nonlinear interconnected systems

Li,

Su,

Guo

2024

Intl J Robust & Nonlinear

Self Cite

View full text Add to dashboard Cite

show abstract

“…In recent years, with the development of performance constraint control theory, methods that can actively constrain transient and steady-state performance have been proposed, such as the obstacle Lyapunov function method [14][15][16], the funnel constraint method [17][18][19], and the prescribed performance function method [20][21][22][23][24][25][26][27]. Among them, the prescribed performance function method is used in AUV control because of its flexibility in setting constraints such as convergence rate, overshoot, and steady-state error range.…”

Section: Introductionmentioning

confidence: 99%

Command-Filter-Based Region-Tracking Control for Autonomous Underwater Vehicles with Measurement Noise

Lv,

Wang,

Liu

et al. 2023

JMSE

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This paper investigates the AUV region-tracking control problem with measurement noise and transient and steady-state constraints. To achieve the fluctuation of AUV tracking error within an expected region while satisfying the transient and steady-state performance constraints, this paper proposes an improved nonlinear tracking error transformation method. This method converts the tracking error into a new virtual error variable through nonlinear conversion, thus transforming the above performance requirements for the tracking error into boundedness requirements for the new virtual error variable. In addition, aiming at the problem of measurement noise causing strong fluctuation of the control signal, this paper proposes a finite-time AUV control method based on a two-stage command filter. This method utilizes a finite-time sliding mode differentiator to filter the virtual control signal during the derivation of the control law using the backstepping technique. In light of the signal loss incurred by two-stage filtering and its potential impact on system stability, a finite-time compensator is designed to compensate the signal loss and achieve finite-time stability of the closed-loop system. Finally, simulations conducted using ODIN AUV demonstrate that the proposed method exhibits smooth control signal and low energy consumption characteristics. Furthermore, the tracking error meets the requirements for both transient and steady-state performance, as well as regional tracking.

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Event‐triggered optimal control based on prescribed performance for a two‐link robotic manipulator

Chen,

2024

Optim Control Appl Methods

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SummaryIn this article, an event‐triggered optimal control method based on prescribed performance is investigated for a constrained two‐link robotic manipulator system. To satisfy the performance constraints of the system, an equated error model of the dynamics model is established by means of two auxiliary functions and the prescribed performance technique. A predictive controller based on an adaptive event triggering mechanism is obtained by solving a constraint optimization problem for this transformed error model, and the triggering threshold can be adjusted based on real‐time changes of the system. This controller realizes the tracking of the joint angle with the desired angle and meets the prescribed performance conditions. Finally, the control algorithm is shown to be an effective method for improving control performance through numerical simulations and comparison with other prescribed performance functions.

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Finite time state tracking control based on prescribed performance for a class of constrained nonlinear systems

Cited by 4 publications

References 36 publications

Observer‐based event‐triggered distributed model predictive control for a class of nonlinear interconnected systems

Observer‐based event‐triggered distributed model predictive control for a class of nonlinear interconnected systems

Command-Filter-Based Region-Tracking Control for Autonomous Underwater Vehicles with Measurement Noise

Event‐triggered optimal control based on prescribed performance for a two‐link robotic manipulator

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