Command Filter-Based Adaptive Predefined-Time Tracking Control for Uncertain Systems with Disturbance Compensation
Open accessAbstract
For uncertain nonlinear systems characterized by parameter uncertainties and unmodeled disturbances, an adaptive predefined‐time tracking control strategy is investigated in conjunction with disturbance observers. First, parameter uncertainties are addressed via predefined‐time adaptive laws, and a novel disturbance observer is devised to dynamically compensate for unmodeled disturbances. Subsequently, a predefined‐time controller employing predefined‐time filters is formulated based on the command‐filtered backstepping control framework. The proposed controller mitigates the “complexity explosion” issue and ensures continuous control signals during the control process. Theoretical analysis confirms that the proposed controller guarantees the tracking error converges to a small vicinity around zero within a predefined time, while the system's convergence time is arbitrarily predeterminable, irrespective of the system parameters. Ultimately, the validity of the developed controller is confirmed through two simulation examples.
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- Authors
- Que, N., Sun, H., Deng, W., Yao, J., Zhao, X., Hu, J., & Luo, M.
- Affiliations
- Nanjing University of Science and Technology (CN)
- Jiangsu Advanced Construction Machinery lnnovation Center LTD. Xuzhou China
- Jiangsu Industry Technology Research Institute (CN)
- Corresponding author
- Deng, Wenxiang
- Venue
- International Journal of Robust and Nonlinear Control
- Publisher
- Wiley
- Published
- 2025-06-15
- Volume
- 35
- Issue
- 15
- Pages
- 6604-6618
- ISSN
- 1049-8923 (ISSN-L)
- 1099-1239
- OpenAlex
- W4412372155
- Cited by
- 5
- References
- 41
- Citations by year
- 2026: 4 · 2025: 1
- FWCI
- 1.84
- Type
- journal article
- Language
- en
- Open access
- bronze
- doi.org
- Locations
- International Journal of Robust and Nonlinear Control (publishedVersion)
- Funders
- National Key Research and Development Program of China (2024YFB4709600)
- National Natural Science Foundation of China (52275062, U24A20112)
- Natural Science Foundation of Jiangsu Province (BK20230096, BK20232038)
- Topics
- Physical Sciences › Engineering › Control and Systems Engineering › Adaptive Control of Nonlinear Systems
- Physical Sciences › Engineering › Control and Systems Engineering › Stability and Control of Uncertain Systems
- Physical Sciences › Physics and Astronomy › Statistical and Nonlinear Physics › Chaos control and synchronization
- Keywords
- predefined-time control, adaptive control, command filter, disturbance compensation, disturbance observer, nonlinear systems, parameter uncertainty, unmodeled disturbances, backstepping control, explosion of complexity, tracking control
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