Prescribed Error Performance Control for Second-Order Fully Actuated Systems
查看参考文献14篇
|
文摘
|
In this paper, the prescribed error trajectory control is proposed for second-order fully actuated systems. At first, by taking advantage of the full-actuation property, an intermediate control law is designed such that the intermediate closed-loop system is in a very simple form. Then, by utilizing the initial conditions of system states and the prescribed error performance function, the intermediate control law is developed to force the tracking error of the system on the proposed sliding mode surface from the beginning. The overall control law is obtained by combining the aforementioned steps. It is revealed that under the designed control law, the tracking error of the closed-loop system converges to zero along the prescribed error trajectory. Finally, an example is provided to validate the effectiveness of the presented approach. |
|
来源
|
Journal of Systems Science and Complexity
,2022,35(2):660-669 【核心库】
|
|
DOI
|
10.1007/s11424-022-2060-1
|
|
关键词
|
Fully actuated systems
;
prescribed error trajectory
;
slide mode surface
|
|
地址
|
1.
School of Mechanical Engineering and Automation, Harbin Institute of Technology (Shenzhen), Shenzhen, 518055
2.
School of Electronic and Communication Engineering, Shenzhen Polytechnic, Shenzhen, 518055
|
|
语种
|
英文 |
|
文献类型
|
研究性论文 |
|
ISSN
|
1009-6124 |
|
学科
|
自动化技术、计算机技术 |
|
基金
|
supported by the Science Center Program of the National Natural Science Foundation of China
;
the Joint Funds of the National Natural Science Foundation of China
|
|
文献收藏号
|
CSCD:7238866
|
参考文献 共
14
共1页
|
|
1.
Jiang B. Fixed-time attitude control for rigid spacecraft with actuator saturation and faults.
IEEE Transactions on Control Systems Technology,2016,24(5):1892-1898
|
CSCD被引
15
次
|
|
|
|
|
2.
Xiao B. Tracking control of robotic manipulators with uncertain kinematics and dynamics.
IEEE Transactions on Industrial Electronics,2016,63(10):6439-6449
|
CSCD被引
14
次
|
|
|
|
|
3.
Duan G R. High-order fully actuated system approaches: Part I. Models and basic procedure.
International Journal of Systems Science,2021,52(2):422-435
|
CSCD被引
31
次
|
|
|
|
|
4.
Duan G R. High-order fully actuated system approaches: Part III. Robust control and high-order backstepping.
International Journal of Systems Science,2021,52(5):952-971
|
CSCD被引
25
次
|
|
|
|
|
5.
Xia K. Robust adaptive backstepping neural networks control for spacecraft rendezvous and docking with uncertainties.
ISA Transactions,2016,62(3):249-257
|
CSCD被引
4
次
|
|
|
|
|
6.
Shekhar R C. Robust model predictive control of unmanned aerial vehicles using waysets.
Journal of Guidance Control Dynamics,2015,38(10):1-10
|
CSCD被引
4
次
|
|
|
|
|
7.
Zou A M. Finite-time attitude tracking control for rigid spacecraft with control input constraints.
IET Control Theory and Applications,2017,11(7):931-940
|
CSCD被引
4
次
|
|
|
|
|
8.
Galicki M. Finite-time trajectory tracking control in a task space of robotic manipulators.
Automatica,2016,67:165-170
|
CSCD被引
9
次
|
|
|
|
|
9.
Polyakov A. Nonlinear feedback design for fixed-time stabilization of linear control systems.
IEEE Transactions on Automatic Control,2012,57(8):2106-2110
|
CSCD被引
176
次
|
|
|
|
|
10.
Sai H Y. Adaptive nonsingular fixed-time sliding mode control for uncertain robotic manipulators under actuator saturation.
ISA Transactions,2021
|
CSCD被引
1
次
|
|
|
|
|
11.
Kostarigka A K. Prescribed performance tracking for flexible joint robots with unknown dynamics and variable elasticity.
Automatica,2013,49(5):1137-1147
|
CSCD被引
13
次
|
|
|
|
|
12.
Jing C. Adaptive sliding mode disturbance rejection control with prescribed performance for robotic manipulators.
ISA Transactions,2019,91(2):41-51
|
CSCD被引
1
次
|
|
|
|
|
13.
Boukattaya M. A global time-varying sliding-mode control for the tracking problem of uncertain dynamical systems.
ISA Transactions,2020,97:155-170
|
CSCD被引
1
次
|
|
|
|
|
14.
Shi X N. Actor-critic-based predefined-time control for spacecraft attitude formation system with guaranteeing prescribed performance on SO(3).
Aerospace Science and Technology,2021,117:106898
|
CSCD被引
4
次
|
|
|
|
|
了解气象卫星更多信息，请访问