Adaptive Fuzzy Tracking Control for Uncertain Nonlinear Systems With Unknown Control Gain Functions via Intermittent Output
针对控制增益未知的不确定非线性系统，提出一种基于输出触发的自适应预设时间跟踪控制策略，通过构建模糊状态观测器解决虚拟控制信号不可微问题，并保证跟踪误差在预设时间内收敛到指定区域。
Based on output triggering, an adaptive prescribed-time tracking control strategy is proposed for a class of uncertain strict-feedback nonlinear systems with unknown control gains in this article. The nondifferentiability of the virtual control signals is identified as the most prominent design difficulty in this research. In order to solve the above difficulty, a new fuzzy state observer is built by using triggered output signal and fuzzy logic systems (FLSs), which in turn generates alternative continuous states. Simultaneously, the estimated signals are utilized to design virtual control signals, making certain that the virtual control signals have a well-defined first derivative. On this basis, by introducing a time-varying constraint function, a new adaptive prescribed-time fuzzy controller is constructed, so that the controller can still be applied to continuously operating systems after the predefined time. Additionally, we introduce the command filtering technique to mitigate repeated differentiation of virtual control signals during the backstepping design process. Combining the constructed logarithmic Lyapunov functions and bounded control technique with backstepping design, it is possible to guarantee that the established adaptive prescirbed-time event-triggered control method satisfies the following: 1) within the predefined time, the tracking error converges to the user-specified region and 2) the full range of signals involved in the closed-loop system is kept bounded. At last, the results of the single-link arm simulation example verify the reasonableness and effectiveness of the established control scheme.