Multi-variable constrained control for uncertain high-order strict-feedback fully actuated nonlinear systems

Abstract

This study focuses on multi-variable constrained control for uncertain high-order strict-feedback (HOSF) fully actuated nonlinear systems using the high-order fully actuated (HOFA) system approach. By employing the practical prescribed time control (PPTC) method, the system states’ convergence time and accuracy are ensured without requiring constrained initial conditions. Subsequently, the considered constrained nonlinear systems are transformed into unconstrained ones through coordinate transformation. The integration of command filtered control and radical basis function (RBF) neural network into the HOFA system approach control design allows for the approximation of unknown nonlinear functions and reduces computational complexity. Under the presented control strategy, the complexity of the system’s control design can be further reduced, simultaneously enhancing the performance of the system. Furthermore, the designed controller guarantees that all system signals remain bounded and the prescribed constraints for all system states are satisfied. Finally, simulation results demonstrate the effectiveness of the proposed strategy.