Adaptive neural predefined-time hierarchical sliding mode control of switched under-actuated nonlinear systems subject to bouc-wen hysteresis

Abstract

For switched under-actuated systems subject to bouc-wen hysteresis, an adaptive neural predefined-time control scheme is presented first time in this paper. To improve the robustness and response rate of the system under consideration, a hierarchical sliding mode control technique is introduced. Based on a predefined-time stability criterion, the stabilization time of the system can be directly preset under the designed controller. Besides, the convergence time depends only on the preset value and is independent of all other parameters. The projection algorithm is introduced to avoid the singularity problem in the controller design process. Meanwhile, it is proved that all signals of the closed-loop system are bounded after a preset time through the Lyapunov stability theory. Finally, a simulation example and a comparison example are given to further illustrate the effectiveness and superiority of developed control approach.

Keywords:

• Predefined-time criterion
• hierarchical sliding mode control
• bouc-wen hysteresis
• neural networks
• under-actuated systems

Acknowledgments

The authors gratefully acknowledge anonymous editors and reviewers.

Data availability statement

Data sharing is not applicable to this article as no new data were created or analysed in this study.

Disclosure statement

No potential conflict of interest was reported by the author(s).

Additional information

Funding

This work was partially supported by the National Natural Science Foundation of China, [grant number 62203064].