Practical Prescribed Time Control of Euler–Lagrange Systems With Partial/Full State Constraints: A Settling Time Regulator-Based Approach
针对欧拉-拉格朗日系统，提出一种基于稳定时间调节器的神经自适应控制方案，在预设时间内实现指定跟踪精度，并同时处理部分或全状态约束，无需改变控制结构。
Many important engineering applications involve control design for Euler-Lagrange (EL) systems. In this article, the practical prescribed time tracking control problem of EL systems is investigated under partial or full state constraints. A settling time regulator is introduced to construct a novel performance function, with which a new neural adaptive control scheme is developed to achieve pregiven tracking precision within the prescribed time. With the specific system transformation techniques, the problem of state constraints is transformed into the boundedness of new variables. The salient feature of the proposed control methods lies in the fact that not only the settling time and tracking precision are at the user's disposal but also both partial state and full state constraints can be accommodated concurrently without the need for changing the control structure. The effectiveness of this approach is further verified by the simulation results.