无需模型参数，实现带约束的系统精确跟踪控制。
Tracking Control of Euler-Lagrangian Systems with Prescribed State, Input, and Temporal Constraints
- 基于平滑的时变屏障函数，动态调节控制输入。
- 保证跟踪误差在指定时间内收敛，且状态与输入不越界。
- 适用于对安全与时间精度要求高的机器人控制场景。
针对欧拉-拉格朗日（EL）系统在严格状态、输入和时间（SIT）约束下的平滑跟踪控制问题，本文提出一种无需模型参数和不确定度边界先验知识的自适应屏障函数控制策略。该方法通过嵌入滤波跟踪误差的时变生成函数，结合饱和函数限制控制量，并在时变约束下将状态维持在规定范围内。推导出控制能力最小值、最大扰动抑制能力和初始条件可行集等可行性条件，揭示了由SIT约束共同作用导致的狭窄工作域。实验与对比研究验证了该方法的有效性。
原文摘要 · Abstract (English)
The synthesis of a smooth tracking control for Euler-Lagrangian (EL) systems under stringent state, input, and temporal (SIT) constraints is challenging. In contrast to existing methods that utilize prior knowledge of EL model parameters and uncertainty bounds, this study proposes an approximation-free adaptive barrier function-based control policy to ensure local prescribed time convergence of tracking error under state and input constraints. The proposed approach uses smooth time-based generator functions embedded in the filtered tracking error, which is combined with a saturation function that limits control action and confines states within the prescribed limits by enforcing the time-varying bounds on the filtered tracking error. Importantly, corresponding feasibility conditions are derived pertaining to the minimum control authority, the maximum disturbance rejection capability of the control policy, and the viable set of initial conditions, illuminating the narrow operating domain of EL systems arising from the interplay of SIT constraints. Finally, the efficacy of the proposed approach is demonstrated using experimental and comparison studies.
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