Command-Filter-Based Fixed-Time Prescribed Tracking Switching Control for Nonlinear Systems With Unknown Control Coefficients

Abstract

This article investigates fixed-time prescribed tracking control based on a command filter for a class of nonlinear systems with unknown control coefficients. A novel switching control mechanism is proposed to address the challenge of unknown control coefficients and introduce a dual-parameter switching strategy with online parameter adjustment based on the designed conditions. To address the limitation in existing research, where prescribed performance functions depend on the initial conditions of systems, this work designs a new class of prescribed performance functions that eliminates this dependency. A command-filter-based backstepping approach effectively avoids the computational complexity of high-order derivatives in traditional backstepping methods. In addition, the issue of the nondifferentiability of the virtual controller at switching moments in existing switching control methods has been resolved. Ultimately, the boundedness of all signals in the closed-loop system is ensured. Moreover, a simulation example of a second-order system verifies the effectiveness of the algorithm in this article.