Finite-Time Fuzzy Preassigned-Performance Control for Nonlinear Systems Subject to Asymmetric State-Constraints Based on Command Filter

• Published in: IEEE transactions on systems, man, and cybernetics. Systems Vol. 54; no. 11; pp. 6733 - 6742
• Main Authors: Liu, Wei, Zhao, Huanyu, Wang, Yeqin, Xu, Shengyuan, Park, Ju H.
• Format: Journal Article
• Language: English
• Published: IEEE 01.11.2024
• Subjects: Adaptive control; Asymmetric barrier Lyapunov function (ABLF); Closed loop systems; Convergence; Disturbance observers; finite-time control (FTC); Fuzzy logic; Lyapunov methods; nonlinear disturbance observer; preassigned performance control (PPC); time-varying asymmetric constraint; Time-varying systems
• ISSN: 2168-2216; 2168-2232
• DOI: 10.1109/TSMC.2024.3428533

This article presents a novel command-filter-based finite-time fuzzy preassigned performance adaptive control approach for nonlinear systems with exogenous disturbances and asymmetric time-varying constraints. Combining the asymmetric barrier Lyapunov function (ABLF) with preassigned performance control (PPC), it is ensured that the state <inline-formula> <tex-math notation="LaTeX">x_{1} </tex-math></inline-formula> satisfies the required asymmetric time-varying state constraints (ATSCs), and the system output y can track the desired signal with achieving preassigned performance indices (PPIs). The command-filter-based control design not only circumvents the computing complexity in the backstepping but also reduces the conservativeness of the assumption regarding the desired signal and the time-varying asymmetric constraints. Additionally, the nonlinear disturbance observer method (NDOM) is employed to effectively estimate unknown exogenous disturbances and enhance the robustness of the closed-loop system. Through rigorous theoretical analysis, the proposed finite-time command filter-based control method effectively ensures that all variables are bounded within a finite time. The practicality and feasibility of the proposed approach are further validated by simulation results.