Global Singularity-Free Prescribed Performance Control for Faulty Nonlinear Systems via Parameterized Nonmonotonic Constraints

Yu Xia; Jun He; Zsófia Lendek; Imre J. Rudas; Ramesh K. Agarwal

doi:10.1109/JAS.2026.125744

Volume 13 Issue 5

May 2026

IEEE/CAA Journal of Automatica Sinica

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Article Navigation > IEEE/CAA Journal of Automatica Sinica > 2026 > 13(5): 1176-1183

Y. Xia, J. He, Z. Lendek, I. Rudas, and R. Agarwal, “Global singularity-free prescribed performance control for faulty nonlinear systems via parameterized nonmonotonic constraints,” IEEE/CAA J. Autom. Sinica, vol. 13, no. 5, pp. 1176–1183, May 2026. doi: 10.1109/JAS.2026.125744

Citation:

Y. Xia, J. He, Z. Lendek, I. Rudas, and R. Agarwal, “Global singularity-free prescribed performance control for faulty nonlinear systems via parameterized nonmonotonic constraints,” IEEE/CAA J. Autom. Sinica, vol. 13, no. 5, pp. 1176–1183, May 2026. doi: 10.1109/JAS.2026.125744

Citation:

Y. Xia, J. He, Z. Lendek, I. Rudas, and R. Agarwal, “Global singularity-free prescribed performance control for faulty nonlinear systems via parameterized nonmonotonic constraints,” IEEE/CAA J. Autom. Sinica, vol. 13, no. 5, pp. 1176–1183, May 2026. doi: 10.1109/JAS.2026.125744

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Global Singularity-Free Prescribed Performance Control for Faulty Nonlinear Systems via Parameterized Nonmonotonic Constraints

doi: 10.1109/JAS.2026.125744

Funds: This work was supported in part by the National Key Research and Development Program of China (2024YFB4006503), the National Natural Science Foundation of China (52175022), the Postdoctoral Fellowship Program of China Postdoctoral Science Foundation (CPSF) (GZC20250940), and the project “Romanian Hub for Artificial Intelligence–HRIA”, Smart Growth, Digitization and Financial Instruments Program, MySMIS (351416)

More Information

Author Bio:
Yu Xia (Member IEEE) received the Ph.D. degree in mechanical engineering from Chongqing University in 2024. He is currently a Research Fellow in the State Key Laboratory of Mechanical System and Vibration, the School of Mechanical Engineering, Shanghai Jiao Tong University. His research interests include prescribed performance control, stochastic system control, and electromechanical system control

Jun He received the Ph.D. degree in mechanical engineering from the School of Mechanical Engineering, Shanghai Jiao Tong University in 2008. He is currently a Professor with the School of Mechanical Engineering, Shanghai Jiao Tong University. His research interests include mechanisms and robotics in space

Zsófia Lendek (Member IEEE) received the M.Sc. degree in control engineering from the Technical University of Cluj-Napoca, Romania, in 2003, the Ph.D. degree in control engineering from the Delft University of Technology, the Netherlands, in 2009, and her habilitation degree from the Technical University of Cluj-Napoca, Romania, in 2019. She is currently a Full Professor at the Technical University of Cluj-Napoca, Romania. She has previously held research positions in the Netherlands and in France. Her research interests include observer and controller design for nonlinear systems, in particular Takagi-Sugeno fuzzy systems, which adapt the advantages of linear time-invariant system-based design to nonlinear systems, with applications in several fields. Dr. Lendek is an Associate Editor of IEEE Transactions on Fuzzy Systems and Engineering Applications of Artificial Intelligence, and an Editorial Board Member of Fuzzy Sets and Systems

Imre J. Rudas (Life Fellow, IEEE) received the B.Sc. degree in mechanical engineering from Bànki Donát Polytechnic College, Budapest, Hungary, in 1971, the M.Sc. degree in mathematics from Eötvös Loránd University, Hungary, in 1977, the Ph.D. degree in robotics and the Doctor of Science degree in computer science from the Hungarian Academy of Sciences, Huangary, in 1987 and 2004, respectively, and the Doctor Honoris Causa degrees in computer science from the Technical University of Košice, Slovakia, in 2001; the Politehnica University of Timișoara, Romania, in 2005; Óbuda University, Hungary, in 2014; and the Slovak University of Technology in Bratislava, Slovakia, in 2016. He is a Rudolf Kalman Distinguished Professor, a Rector Emeritus, and a Professor Emeritus with Óbuda University, Hungary. His present areas of research activities are computational cybernetics, cyber physical control, robotics, and systems of systems. Dr. Rudas has edited and/or published 22 books, published more than 890 papers in international scientific journals, conference proceedings, and book chapters, and received more than 8000 citations. He was awarded the Honorary Professor Title in 2013 and the Ambassador Title by the Wrocław University of Science and Technology. He is the Senior Past President of the IEEE Systems, Man, and Cybernetics Society. He is a Fellow of the International Fuzzy Systems Association

Ramesh K. Agarwal (Life Fellow, IEEE) received the Ph.D. degree in aerospace engineering from Stanford University, USA, in 1975. He is currently the William Palm Professor of engineering and the Director of the Aerospace Research and Education Center, Washington University in St. Louis Campus, USA. His research interests include basic control system theory, fuzzy logic and neural networks, and applications of nonlinear H_∞ control to flight and flow control. He has Authored or Coauthored more than 500 journal and refereed conference articles. He was on the editorial board for more than 20 journals. He was the recipient of the SAE Aerospace Engineering Leadership Award in 2013, the SAE Excellence in Engineering Education Award, the SAE International Medal of Honor, and the AIAA Reed Aeronautics Award in 2015. He is a Fellow of AAAS, AIAA, APS, ASME, and IET
Corresponding author: Jun He, e-mail: jhe@sjtu.edu.cn
Received Date: 2024-12-02
Revised Date: 2025-06-15
Accepted Date: 2025-11-08

Abstract

Abstract

In this paper, we investigate potential singularity issues in prescribed performance control induced by actuator faults and propose a global nonmonotonic prescribed performance scheme for strict-feedback nonlinear systems. This scheme allows for parameterized relaxation of constraint boundaries in the presence of actuator faults. Unlike existing prescribed performance control schemes that rely on redesigning nonmonotonic rate functions to modify boundary relaxation properties, the proposed method introduces a novel adjustment module into the prescribed performance function, enabling the parametric design of nonmonotonic boundaries. Moreover, the proposed method simultaneously addresses the removal of the initial feasibility condition and the imposition of asymmetric constraints by introducing a global asymmetric design with an error correction module. This module enables flexible conversion from asymmetric to symmetric boundaries at a predetermined time instant, thereby reducing transient overshoot while maintaining steady-state tracking precision. Simulation results validate the effectiveness and superiority of the proposed scheme.
- Actuator fault,
- error correction,
- global asymmetric design,
- nonmonotonic prescribed performance control,
- strict-feedback nonlinear system

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References(26)

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