Predefined-Time Adaptive Neural Tracking Control of Switched Nonlinear Systems
研究了切换非线性系统的预定时间跟踪控制问题，利用神经网络逼近未知非线性函数，通过反步法和公共Lyapunov函数设计控制器，保证跟踪误差在预定时间内收敛到零。
This article investigates the neural-network-based adaptive predefined-time tracking control problem for switched nonlinear systems. Neural networks are employed to approximate the unknown part of nonlinear functions. The finite-time differentiators are introduced to estimate the first derivative of the virtual controllers. Then, a novel adaptive predefined-time controller is proposed by utilizing the backstepping control technique and the common Lyapunov function (CLF) method. It is explained by the theoretical analysis that the developed controller guarantees that all signals of the switched closed-loop systems are bounded under arbitrary switchings and the tracking error converges to zero within the predefined time. A simulation is shown to verify the validity of the developed predefined-time control approach.