Whole-Process Predefined-Time Tracking Control for T-S Fuzzy Euler-Lagrange Systems

This paper realizes whole-process predefined-time (WPPT) tracking control in T-S fuzzy Euler-Lagrange (TSFEL) systems with zero-error through the proposed novel nonsingular sliding mode- and observer-based (NSMOB) control algorithm. Under the supplementary of the sliding mode (SM) and extended state observer (ESO), the anti-disturbance and fitting unknown smooth function abilities for the control algorithm is further promoted. And more importantly, the complex problem of nonsingular predefined-time control with zero-error in second-order systems is uniquely addressed by a newly nonsingular wholeprocess predefined-time (NWPPT) controller, which forms NSMOB control algorithm, combined with the existing predefinedtime SM (PTSM) and predefined-time ESO (PTESO). Further, the theoretical rationality of the NSMOB control algorithm is proven creatively and rigorously with the help of the Lyapunov function and several sufficient criteria. And eventually, the control algorithm is applied to a two-link robot manipulator to validate its effectiveness and superiority over the existing nonsingular predefined-time control algorithm