Search arXiv⌕ Search
Home/Archive/arXiv

arXiv · 2210.16477

Adaptive Fuzzy Tracking Control with Global Prescribed-Time Prescribed Performance for Uncertain Strict-Feedback Nonlinear Systems

Bing Mao·Xiaoqun Wu·Hui Liu·Yuhua Xu·Jinhu Lü
View original source ↗Read source document ↗Export metadata ↓

Abstract

Adaptive fuzzy control strategies are established to achieve global prescribed performance with prescribed-time convergence for strict-feedback systems with mismatched uncertainties and unknown nonlinearities. Firstly, to quantify the transient and steady performance constraints of the tracking error, a class of prescribed-time prescribed performance functions are designed, and a novel error transformation function is introduced to remove the initial value constraints and solve the singularity problem in existing works. Secondly, based on dynamic surface control methods, controllers with or without approximating structures are established to guarantee that the tracking error achieves prescribed transient performance and converges into a prescribed bounded set within prescribed time. In particular, the settling time and initial value of the prescribed performance function are completely independent of initial conditions of the tracking error and system parameters, which improves existing results. Moreover, with a novel Lyapunov-like energy function, not only the differential explosion problem frequently occurring in backstepping techniques is solved, but the drawback of the semi-global boundedness of tracking error induced by dynamic surface control can be overcome. The validity and effectiveness of the main results are verified by numerical simulations on practical examples.

Explore related subjects

eess.SYcs.SY

Keep this discovery

Explore connections, maps & timelines

BibTeXRIS

Bing Mao, Xiaoqun Wu, Hui Liu, Yuhua Xu, Jinhu Lü. 2022-12-27. Adaptive Fuzzy Tracking Control with Global Prescribed-Time Prescribed Performance for Uncertain Strict-Feedback Nonlinear Systems. https://arxiv.org/abs/2210.16477

Cite the original work for its findings. Save a collection to share your selection of sources.

KEEP EXPLORING

Related papers

arXiv2026

Safe learning-based control via function-based uncertainty quantification

Uncertainty quantification is essential when deploying learning-based control methods in safety-critical systems. This is commonly realized by constructing uncertainty tubes that enclose the unknown function of interest, e.g., the reward and constraint functions or the underlying dynamics model, with high probability. However, existing approaches for uncertainty quantification typically rely on restrictive assumptions that encode smoothness properties of the unknown function, such as a known norm in a function space. Moreover, these methods usually struggle with discontinuities. In this paper, we model the unknown function as a random function from which independent and identically distributed realizations can be generated. We then construct uncertainty tubes via the scenario approach that hold with high probability. Our uncertainty tubes rely solely on sampled realizations and can therefore accommodate discontinuities represented by the sampling model. We integrate these uncertainty tubes into a safe Bayesian optimization algorithm with which we safely tune control parameters on a real Furuta pendulum.

eess.SY↗
arXiv2026

Enhanced ShockBurst for Ultra Low-Power On-Demand Sensing

On-demand sensing requires battery-powered Internet-of-Things (IoT) and implantable medical devices to remain in deep sleep and activate wireless communication only when data transmission is required. In such systems, battery lifetime depends strongly on radio active time. This work investigates how communication architecture and physical layer (PHY) configuration influence radio active time by comparing connection-oriented Bluetooth Low Energy (BLE) with connectionless Enhanced ShockBurst (ESB) on identical BLE-compatible hardware. Under identical 2 Mbps PHY configurations, ESB reduces wake-up latency and energy consumption to approximately one-twentieth of BLE by eliminating connection establishment and maintenance overhead. Increasing the ESB PHY rate from 2 to 4 Mbps further shortens packet airtime by approximately 52% and reduces transmission energy by approximately 43%. Finally, a first-in, first-out (FIFO)-triggered implantable loop recorder prototype demonstrates that jointly optimizing communication architecture, PHY configuration, and buffered transmission enables sleep-wake operation and reduces total system power consumption by approximately 60% compared with conventional BLE operation. These results identify minimizing radio active time as a key design principle for ultra-low-power on-demand sensing and provide practical guidance for battery-powered sensing systems.

eess.SY↗
arXiv2026

Receding Horizon Multi-Agent Deceptive Path Planner

Deceptive path planning enables autonomous agents to obscure their true goals from observers by deviating from an expected optimal path. Prior work largely solves full-horizon, end-to-end optimization for single agents, which is expensive to recompute online and difficult to scale or adapt en route. We propose a unified framework for deceptive path planning using a Boltzmann distribution, computing over short-horizon candidate trajectories within a receding-horizon loop. By param- By iterating a user-defined cost that captures deception, resources, and smoothness, and optionally includes coupling terms between agents, the framework yields stochastic policies that balance the tradeoff between optimal paths and deceptive deviation. Policies are updated locally and do not require training. The level of deception and adherence to constraints can be dynamically tuned, enabling online adaptation to changes in goals and constraints such as obstacles. This step-by-step tuning opens the door to new forms of dynamic deception. Simulation studies demonstrate the flexibility of our approach, maintaining deception while adapting to environmental and constraint updates, avoiding the recomputation required by full-horizon methods, and supporting intuitive tuning via a small set of parameters

eess.SY↗