Dynamic surface fixed-time trajectory tracking control for ball and plate system with prescribed performance and anti-saturation compensator

Abstract

The paper presents a dynamic surface fixed-time prescribed performance trajectory tracking control scheme for ball and plate system with input saturation, coupling terms in the system and bounded disturbances. First, a novel fixed-time prescribed performance function is introduced to ensure the output error remains within prescribed performance bounds within a predetermined time. Subsequently, an adaptive neural network approximates the coupling terms and bounded disturbances, ensuring the estimation error of the adaptive law converges within a fixed time. A new dynamic surface fixed-time control scheme without fractional power terms is then designed to ensure fixed-time convergence of the tracking error. Finally, a fixed-time anti-saturation compensator is designed to mitigate the input saturation effects on performance. Lyapunov stability analysis demonstrates that the proposed scheme ensures practical fixed-time stability and guarantees all the upper bound of convergence time are estimated. Simulation results validate the effectiveness of the proposed control scheme.