Prescribed-Time Command Filtered Control for Uncertain Nonlinear Systems

Yilin Chen

Abstract:

This paper focuses on the prescribed-time (PT) adaptive tracking control scheme for nonlinear systems. A time-varying scaling transformation function (STF) is designed to avoid the singularity issue in implementing the designed controller while releasing the requirement of n-order differentiability of the STF, thus providing a more relaxed criterion for PT stability. Furthermore, a simplified filtering error compensation method is proposed to ensure the convergence of filtering error in prescribed time, thus reducing the impact of filtering error on control performance. All signals in nonlinear systems are proved to meet the PT stability requirement. The effectiveness of the
proposed scheme are substantiated through simulation results.

Submission Number: 189