Decentralised adaptive prescribed performance finite-time tracking control for a class of nonlinear interconnected systems with unknown control directions. (English) Zbl 1485.93028
Summary: In this paper, the decentralized adaptive prescribed performance finite-time tracking control problem is investigated for a class of interconnected non-affine nonlinear systems with unmodeled dynamics, unknown control direction and unknown dead zone. A novel tracking control strategy combining Nussbaum-gain technique with finite-time control is presented. The designed controller can guarantee that tracking error of each subsystem is constrained by finite-time performance function and converges to the given neighborhood of the equilibrium point within a given arbitrarily settling time. Meanwhile, all the signals in the closed-loop interconnected system are bounded. In addition, the problem that the prescribed performance control method is difficult to realize decentralized control is solved by means of a special mathematical transformation. Specifically, the settling time is a design parameter which is independent of the system initial states in this method. The simulation results are presented to demonstrate the feasibility and superiority of the proposed control method.
MSC:
| 93A14 | Decentralized systems |
| 93C40 | Adaptive control/observation systems |
| 93D40 | Finite-time stability |
| 93C10 | Nonlinear systems in control theory |
| 93B70 | Networked control |
Keywords:
interconnected non-affine nonlinear systems; unknown control direction; decentralised control; finite-time performance function; backstepping techniqueReferences:
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