Predefined-time adaptive fuzzy control for nonlinear output constraint systems with unknown backlash-like hysteresis via command filtering

Yaling Jiang and Yakun Su

International Journal of Systems Science, 2025, vol. 56, issue 4, 767-785

Abstract: In this article, the predefined-time adaptive fuzzy control problem for strict-feedback nonlinear systems with asymmetric time-varying output constraint and unknown backlash-like input hysteresis is considered. An innovative predefined-time adaptive control method, in which utilises unified barrier function (UBF) to deal with the output constraint problem and adopts a differential equation to represent the unknown backlash-like hysteresis, is presented by combining a novel command filter with backstepping technology. Fuzzy logic systems (FLSs) are employed to estimate the unknown nonlinearities. Moreover, by designing appropriate parameters, the constructed control strategy ensures that all signals are predefined-time bound and the tracking error stays in a small neighbourhood adjacent zero. Ultimately, two simulation examples are given to prove the effectiveness of the presented control algorithm.

Date: 2025
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DOI: 10.1080/00207721.2024.2409878

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