Fang Lijin, Shen Hesong, Wang Huaizhen, Song Tangzhong
Faculty of Robot Science and Engineering, Northeastern University, Shenyang, 110000, China.
Institute of Shandong New Generation Information Industry Technology, Inspur group, Gangxing road Jinan, 250101, China.
ISA Trans. 2025 Jul 30. doi: 10.1016/j.isatra.2025.07.041.
This paper considers the prescribed-time convergence and robustness problems of strict-feedback uncertain nonlinear systems (SFUNSs). A novel control algorithm of prescribed-time H robust control scheme in the framework of backstepping method is proposed, improving the convergence speed of the conventional H robust control system without deteriorating its robustness. Firstly, the prescribed-time H robust stability theorem is presented. Based on this theorem, a fuzzy approximation-based prescribed-time H robust controller is designed, where the fuzzy adaptive law can approximate the lumped uncertainties (including both matched and unmatched ones) in prescribed time, achieving rapid response performance and strong robustness of SFUNSs simultaneously. Furthermore, Lyapunov method is utilized to prove its rationality. Finally, the proposed control scheme is validated by simulation on a two-link robotic manipulator.
本文研究了严格反馈不确定非线性系统（SFUNSs）的预设时间收敛和鲁棒性问题。提出了一种基于反步法框架的新型预设时间H鲁棒控制方案控制算法，在不降低其鲁棒性的前提下提高了传统H鲁棒控制系统的收敛速度。首先，给出了预设时间H鲁棒稳定性定理。基于该定理，设计了一种基于模糊逼近的预设时间H鲁棒控制器，其中模糊自适应律能够在预设时间内逼近集中不确定性（包括匹配和不匹配的不确定性），同时实现了SFUNSs的快速响应性能和强鲁棒性。此外，利用李雅普诺夫方法证明了其合理性。最后，通过在双连杆机器人机械臂上的仿真验证了所提出的控制方案。
