A New Arbitrary-Time Guaranteed-Performance Adaptive Tracking Control Scheme Design for Uncertain Nonlinear Systems
针对不确定高阶非线性系统，提出一种全局分段任意时间保证性能函数，使跟踪误差在保证性能约束内任意时间归零，并设计鲁棒扰动抑制机制和自适应律，消除奇异问题，提升执行效率。
The arbitrary-time (AT) nonovershoot adaptive tracking control issue is investigated for uncertain high-order nonlinear systems with guaranteed-performance (GP). Superior to the existing prescribed-time prescribed-performance control strategies that are vulnerable to suddenly unexpected external disturbances, a novel globally segmented AT guaranteed-performance (ATGP) function is proposed to overcome such limitations. First, the tracking errors of the system are driven to zero not only within the GP constraints but within an AT, which greatly enhances the execution efficiency. Then, a robust error-induced time-triggered disturbance-rejection mechanism is proposed to eliminate the singularity issue in conventional prescribed-performance control and enable a stabilized system to regain ATGP convergence under unexpected disturbances. Furthermore, compared with traditional adaptive algorithms that only achieve the ultimately uniform boundedness, an AT parameter adaptive law is proposed, driving the adaptive estimation error to zero. Finally, a practical example on a manipulator and a numerical example on a general nonlinear system are taken to authentically corroborate the efficacy of the proposed control algorithm.