Practical Prescribed Time Tracking Control of Interconnected Nonlinear Systems with Discontinuous Reference Signals

Abstract

High-performance tracking control is of great importance for interconnected nonlinear systems. In traditional control methods, most existing results focus on prescribed performance control, which mainly constrains the convergence rate and steady-state tracking accuracy of the tracking error; however, such a framework is still not precise enough for tracking error regulation. This thesis investigates high-performance constrained tracking control for a class of interconnected nonlinear systems, such that the tracking errors can be driven to zero at prescribed-time. First, the discontinuous reference signals are transformed into continuous ones by using the Hermite interpolation technique. Then, based on the finite-time command filter (FTCF) and filter compensation signals, a novel practical prescribed-time tracking control algorithm is proposed. Simulation results show that the tracking error of each subsystem is zero at the prescribed-time and remains bounded thereafter. This demonstrates the significance of the proposed method for high-performance constrained control of interconnected systems.