Prescribed Error Performance Control for Second-Order Fully Actuated Systems

doi:10.1007/s11424-022-2060-1

Journal of Systems Science and Complexity ›› 2022, Vol. 35 ›› Issue (2): 660-669.DOI: 10.1007/s11424-022-2060-1

Prescribed Error Performance Control for Second-Order Fully Actuated Systems

LI Zhi¹, ZHANG Ying¹, ZHANG Rui²

1. School of Mechanical Engineering and Automation, Harbin Institute of Technology (Shenzhen), Shenzhen 518055, China;
2. School of Electronic and Communication Engineering, Shenzhen Polytechnic, Shenzhen 518055, China

Received:2022-01-20 Revised:2022-03-15 Published:2022-04-13
Contact: ZHANG Ying. Email: zhangyinghit@126.com
Supported by:
This paper was supported by the Science Center Program of the National Natural Science Foundation of China under Grant No. 62188101 and the Joint Funds of the National Natural Science Foundation of China under Grant No. U2013203.

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LI Zhi, ZHANG Ying, ZHANG Rui. Prescribed Error Performance Control for Second-Order Fully Actuated Systems[J]. Journal of Systems Science and Complexity, 2022, 35(2): 660-669.

In this paper, the prescribed error trajectory control is proposed for second-order fully actuated systems. At first, by taking advantage of the full-actuation property, an intermediate control law is designed such that the intermediate closed-loop system is in a very simple form. Then, by utilizing the initial conditions of system states and the prescribed error performance function, the intermediate control law is developed to force the tracking error of the system on the proposed sliding mode surface from the beginning. The overall control law is obtained by combining the aforementioned steps. It is revealed that under the designed control law, the tracking error of the closed-loop system converges to zero along the prescribed error trajectory. Finally, an example is provided to validate the effectiveness of the presented approach.

Key words: Fully actuated systems, prescribed error trajectory, slide mode surface

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