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Fixed-time adaptive neural tracking control for nonstrict-feedback nonlinear systems with mismatched disturbances using an event-triggered scheme

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Abstract

This paper investigates the adaptive fixed-time neural tracking control problem for the uncertain nonstrict-feedback nonlinear systems subject to mismatched disturbances via an event-triggered scheme. The radial basis function neural networks are utilized to approximate the unknown nonlinearities and tighten the systems accordingly to obtain fixed-time convergence form easily. A novel event-triggered control mechanism is utilized to switch alternately between relative threshold strategy and fixed threshold strategy and keep balance between the number of triggering and the tracking error through the comparison of numerical examples, and the Zeno behavior is also excluded. Then, an adaptive event-triggered controller is designed via the backstepping technique. The proposed control method can ensure that the tracking error converges to a small range of the origin and all the signals of the closed-loop system are bounded within a fixed time. Finally, a single-link manipulator example and a numerical example are provided to verify the validity and practicability of the proposed method.

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Acknowledgements

This work of H. Shen was supported by the NNSFC under Grant 62273006, 62173001, 61873002, 61703004, the Major Natural Science Foundation of Higher Education Institutions of Anhui Province under Grant KJ2020ZD28, Natural Science Foundation for Excellent Young Scholars of Anhui Province 2108085Y21, the Major Technologies Research and Development Special Program of Anhui Province under Grant 202003a05020001, the Key research and development projects of Anhui Province under Grant 202104a05020015, the Open Project of China International Science and Technology Cooperation Base on Intelligent Equipment Manufacturing in Special Service Environment under Grant ISTC2021KF04. Also, the work of Ju H. Park was supported by the National Research Foundation of Korea (NRF) grant funded by the Korea government (Ministry of Science and ICT) (No. 2019R1A5A808029011).

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Authors and Affiliations

  1. School of Electrical and Information Engineering, Anhui University of Technology, Ma’anshan, 243032, China

    Yu Mei, Feng Li, Rongsheng Xia & Hao Shen

  2. Department of Electrical Engineering, Yeungnam University, 280 Daehak-Ro, Kyongsan, 38541, Republic of Korea

    Ju H. Park

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  1. Yu Mei
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Mei, Y., Li, F., Xia, R. et al. Fixed-time adaptive neural tracking control for nonstrict-feedback nonlinear systems with mismatched disturbances using an event-triggered scheme. Nonlinear Dyn 111, 5383–5400 (2023). https://doi.org/10.1007/s11071-022-08146-3

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