Improved Safe Tracking Error-Constrained Control for Unknown Interconnected Time-Delay Nonlinear Systems With Discontinuous References
针对存在输入饱和与冲突输出约束的未知强互联时滞非线性系统，提出一种改进的误差约束控制策略，通过生成平滑安全参考信号和改进预设性能函数，在有限时间内将跟踪误差限制在恒定界内，并利用神经网络逼近不确定性，实现渐近稳定与安全跟踪。
In this article, we address the improved error-constrained control problem for unknown, strongly interconnected time-delay nonlinear systems with input saturation and conflicted output constraints. The further challenge we face is that the presence of discontinuous reference signals poses greater difficulties for control design. To tackle these issues, a mechanism for generating smooth, safe reference signals is first devised. Additionally, we propose a novel approach that utilizes improved prescribed performance functions to confine tracking errors within predetermined constant bounds in finite time, while avoiding potential singularity issues arising from abrupt changes in the reference signal. Furthermore, a decentralized adaptive learning error-constrained control strategy is proposed, employing neural networks to approximate complex uncertainties with an asymptotic dynamic surface control method. Stability analysis confirms that the proposed control scheme guarantees the asymptotic stability of the system and ensures safe tracking within conflicted irregular output constraints, even in the presence of input saturation. Finally, simulation results demonstrate the efficacy of the presented control strategy.