RESEARCH ARTICLE
Finite time state tracking control based on prescribed performance for a class of constrained nonlinear systems
Yunshuo Wang,
Baili Su,
Benshuai Guo,
Yunshuo Wang
School of Engineering, Qufu Normal University, Rizhao, China
Search for more papers by this authorCorresponding Author
Baili Su
School of Engineering, Qufu Normal University, Rizhao, China
Correspondence Baili Su, School of Engineering, Qufu Normal University, Rizhao, China.
Email: [email protected]
Search for more papers by this authorBenshuai Guo
School of Engineering, Qufu Normal University, Rizhao, China
Search for more papers by this authorYunshuo Wang,
Baili Su,
Benshuai Guo,
Yunshuo Wang
School of Engineering, Qufu Normal University, Rizhao, China
Search for more papers by this authorCorresponding Author
Baili Su
School of Engineering, Qufu Normal University, Rizhao, China
Correspondence Baili Su, School of Engineering, Qufu Normal University, Rizhao, China.
Email: [email protected]
Search for more papers by this authorBenshuai Guo
School of Engineering, Qufu Normal University, Rizhao, China
Search for more papers by this authorAbstract
In this article, a finite time prescribed performance controller is designed for a class of constrained nonlinear systems with external disturbances. A homeomorphic mapping is used for error conversion to establish the equivalent error model of the system. A robust stability controller is designed when the initial state is in the initial stability region. A finite time optimization controller is designed to make the state reach the initial stability region when the initial state is outside the initial stability region. Based on Lyapunov stability theory, it is proved that the system can realize state tracking in a limited time and meet the prescribed performance conditions. The effectiveness of the proposed method is testified by two simulation examples.
CONFLICT OF INTEREST STATEMENT
The authors declare that they have no conflict of interest.
Open Research
DATA AVAILABILITY STATEMENT
The data that support the findings of this study are available from the corresponding author upon reasonable request.
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