Prescribed-Time Practical Tracking Control of Output-Constrained Time-Delay Nonlinear Systems

This paper considers the prescribed-time output tracking control problem for a class of output-constrained time-delay nonlinear systems. Our control scheme just requires that the nonlinear functions are continuous and the time-delay is bounded. Based on the dialectic by contradiction and the barrier function analysis method, a controller is designed that does not rely on approximation, identification and compensation. It is proved that the proposed approach guarantees output tracking error converges to the prescribed range after a given time and constraint satisfactions simultaneously, and all the signals in the closed-loop system remain bounded. The simulation results demonstrate the feasibility and effectiveness of the proposed control scheme.

本文考虑了一类输出限制的时间延迟非线性系统的规定时间输出跟踪控制问题。我们的控制方案只要求非线性函数是连续的，并且时间延迟是有界的。基于矛盾和障碍函数分析方法的辩证法，设计了一个不依赖近似，识别和补偿的控制器。事实证明，所提出的方法可以保证输出跟踪误差在给定时间和约束满足后收敛到规定的范围，并且闭环系统中的所有信号均保持界限。仿真结果证明了拟议的控制方案的可行性和有效性。