Prescribed time tracking control of constrained Euler-Lagrange systems: An adaptive proportional-integral solution

Most autonomous systems can be described by Euler-Lagrange (EL) model. This article investigates the problem of prescribed time tracking control for EL systems in the presence of modeling uncertainties, prescribed performance requirements and time-varying state constraints. Two proportional-integral (PI)-like control schemes with time-varying gains are developed with several favorable features: (1) achieving prescribed tracking precision within finite time in the presence of modeling uncertainties; (2) state constraints being obeyed all the time; (3) both the final tracking accuracy and the setting time being preassigned irrespective of initial condition or any other constraining parameter; and (4) bearing simple PI structure with analytical formula for robust-adaptive tuning gains, and demanding inexpensive online computation. The benefits and effectiveness of the proposed control are also validated via numerical simulation.

Automated summary

This article investigates the problem of prescribed time tracking control for EL systems with modeling uncertainties, prescribed performance requirements, and time-varying state constraints. Two proportional-integral-like control schemes with time-varying gains are developed, ensuring prescribed tracking precision, state constraints adherence, preassigned tracking accuracy, and setting time, along with simple structure and inexpensive online computation. The proposed control's benefits and effectiveness are validated through numerical simulation.