Prescribed Performance Tracking Control of Time-Delay Nonlinear Systems With Output Constraints

• Published in: IEEE/CAA journal of automatica sinica Vol. 11; no. 7; pp. 1557 - 1565
• Main Authors: Zhang, Jin-Xi, Xu, Kai-Di, Wang, Qing-Guo
• Format: Journal Article
• Language: English
• Published: Piscataway Chinese Association of Automation (CAA) 01.07.2024; The Institute of Electrical and Electronics Engineers, Inc. (IEEE); State Key Laboratory of Synthetical Automation for Process Industries,Northeastern University,Shenyang 110819,China%Institute of Artificial Intelligence and Future Networks,Beijing Normal University,Zhuhai 519087; Guangdong Key Laboratory of Artificial Intelligence and Multi-Modal Data Processing,Beijing Normal University-Hong Kong Baptist University United Inter-national College,Zhuhai 519087,China
• Subjects: Accuracy; Chemical reactors; Control systems; Delay effects; Error analysis; Estimation; Filtering; Lipschitz condition; Nonlinear control; Nonlinear systems; output constraints; Performance analysis; prescribed performance; reference tracking; Robust control; Robustness; time delays; Tracking control; Tracking errors; output constraints; reference tracking; time delays; prescribed performance; Nonlinear systems
• ISSN: 2329-9266; 2329-9274
• DOI: 10.1109/JAS.2023.123831

The problem of prescribed performance tracking control for unknown time-delay nonlinear systems subject to output constraints is dealt with in this paper. In contrast with related works, only the most fundamental requirements, i.e., boundedness and the local Lipschitz condition, are assumed for the allowable time delays. Moreover, we focus on the case where the reference is unknown beforehand, which renders the standard prescribed performance control designs under output constraints infeasible. To conquer these challenges, a novel robust prescribed performance control approach is put forward in this paper. Herein, a reverse tuning function is skillfully constructed and automatically generates a performance envelop for the tracking error. In addition, a unified performance analysis framework based on proof by contradiction and the barrier function is established to reveal the inherent robustness of the control system against the time delays. It turns out that the system output tracks the reference with a preassigned settling time and good accuracy, without constraint violations. A comparative simulation on a two-stage chemical reactor is carried out to illustrate the above theoretical findings.