Abstract
For uncertain strict-feedback nonlinear systems with self-restructuring structures and nonaffine dynamics, this article addresses the challenge of achieving exact full state zero-error stabilization within a prescribed finite time. An adaptive prescribed-time control scheme is proposed, which guarantees that all system states converge to zero within the user-specified settling time, irrespective of initial conditions. The controller is designed based on a time-varying scaling state transformation and incorporates the Nussbaum function to handle unknown self-restructuring control gains. The self-restructuring structures are treated as a time-state-dependent lump, which is effectively estimated by freezing both time and system states and then applying an adaptive estimation strategy. Numerical simulations on a piezoelectric-actuated stage and a second-order nonlinear system are conducted to demonstrate the effectiveness of the proposed scheme.
| Original language | English |
|---|---|
| Number of pages | 11 |
| Journal | IEEE Transactions on Cybernetics |
| DOIs | |
| Publication status | E-pub ahead of print - 4 Dec 2025 |
Bibliographical note
Publisher Copyright:© 2013 IEEE.
Funding
This work was supported in part by the National Key Research and Development Program of China under Grant 2022YFB4701400/4701401, in part by the Fundamental Research Funds for the Central Universities under Grant 2024CDJYXTD-007, in part by the Natural Science Foundation of Chongqing under Grant CSTB2023NSCQLZX0026, in part by the National Natural Science Foundation of China under Grant W2411061, and in part by China Scholarship Council under Grant 202506050048.
Keywords
- Adaptive control
- nonaffine system
- prescribed-time control
- self-restructuring system
- unknown control gain