文献类型：期刊文献

英文题名：Output-Constrained Prescribed Performance Control of MIMO Nonlinear Systems With a Priori Unknown References

作者：Zhang, Jin-Xi[1];Di, Jia[1];Pedrycz, Witold[2,3,4];Li, Zhongmei[5]

机构：[1]Northeastern Univ, State Key Lab Synthet Automat Proc Ind, Shenyang 110819, Peoples R China;[2]Silesian Tech Univ, Dept Measurement & Control Syst, PL-44100 Gliwice, Poland;[3]Univ Alberta, Dept Elect & Comp Engn, Edmonton, AB T6G 2R3, Canada;[4]Istinye Univ, Res Ctr Performance & Prod Anal, TR-34010 Istanbul, Turkiye;[5]East China Univ Sci & Technol, Key Lab Smart Mfg Energy Chem Proc, Minist Educ, Shanghai 200237, Peoples R China

年份：2025

卷号：55

期号：12

起止页码：5582

外文期刊名：IEEE TRANSACTIONS ON CYBERNETICS

收录：;EI(收录号：20253919249832);WOS:【SCI-EXPANDED(收录号:WOS:001575980400001)】；

基金：This work was supported in part by the National Natural Science Foundation of China under Grant 62473089; in part by the National Key Research and Development Program of China under Grant 2022YFB3305905; in part by the Shanghai Rising-Star Program under Grant 24QA2706100; in part by the Xingliao Talent Program of Liaoning Province of China under Grant XLYC2203130; in part by the Natural Science Foundation of Liaoning Province of China under Grant 2024JH3/10200012; in part by the Fundamental Research Funds for the Central Universities of China under Grant N2424016, Grant N25YJS002, and Grant ICT2024A01; and in part by the Open Research Project of the State Key Laboratory of Industrial Control Technology of China under Grant ICT2024B12.

语种：英文

外文关键词：Nonlinear dynamical systems; Control design; Artificial neural networks; Accuracy; Vehicle dynamics; Parameter estimation; Mathematical models; Manipulators; Jacobian matrices; Hands; A priori unknown references; multi-input multi-output (MIMO) nonlinear systems; output constraints; predefined performance; unknown dynamics

摘要：The problem of prescribed performance control (PPC) for the MIMO block-triangular nonlinear systems under output constraints is investigated in this article. It is focused on the scenario where the references are not known in advance. This renders the related solutions infeasible and becomes more challenging under the totally unknown and inherently nonlinear dynamics of the system. To overcome this challenge, a novel robust decoupling PPC strategy is developed in this article, in which an online boundary generation scheme and a smoothly constraint switching rule are devised and introduced. The resulting controller ensures that the system outputs evolve within their respective constraint bands and track the references with the predetermined overshoot, settling time and accuracy. Moreover, it is independent of function approximation, parameter identification, or disturbance estimation, despite the unbounded nonlinearities, unmatched disturbances and unknown dynamics. A comparative experiment on a 2DSFL robot is conducted to show the efficacy and superiority of our low-complexity high-performance control approach.