Predefined‐Time Command‐Filtered Adaptive Fuzzy Tracking Control for Nonlinear Systems With Delayed Input

ABSTRACT This article addresses the issue of adaptive practical predefined‐time (PPT) fuzzy tracking control for nonlinear systems with delayed input. A novel PPT input delay auxiliary system is first developed to eliminate the impact of the delayed input. The practical predefined‐time stable (PPTS) command filters are adopted to solve the problem of “term explosion” caused by the derivative of virtual controllers, and the error compensation signals are constructed to reduce the errors caused by the filters. The fuzzy logic systems (FLSs) are exploited to approximate the unknown functions in controlled systems. Furthermore, drawing support from the adaptive backstepping control technique, an adaptive PPT fuzzy controller is developed to ensure that all the system signals are PPT bounded, and the tracking error trends to a small neighborhood near the origin. Eventually, two simulation examples prove the validity of the developed mechanism.