Abstract
Most existing prescribed time control methods are valid for finite time intervals rather than infinite time intervals, and can only achieve regulation under vanishing or no uncertainties/disturbances. In this work, a control method that achieves pre-assignable tracking precision within the prescribed time is presented for nonlinear systems in the presence of non-vanishing disturbances and mismatched uncertainties over the infinite time interval. More specifically, by introducing a novel time-varying constraining function, the original finite-time tracking control problem is converted into one with a deferred constraint on tracking error, then by stabilizing of which, the prescribed time tracking control problem is solved with the following appealing features: 1) both the settling time and the tracking accuracy can be explicitly specified in advance regardless of initial conditions and any design parameter; 2) the control gains and the control input remain bounded and continuous everywhere; 3) the system is allowed to operate continuously even after the prescribed time; and 4) the results are global in that pre-set tracking accuracy is ensured within the predefined time for states starting from anywhere within the physically possible domain.
| Original language | English |
|---|---|
| Article number | 110050 |
| Journal | Automatica |
| Volume | 136 |
| Early online date | 4 Dec 2021 |
| DOIs | |
| Publication status | Published - Feb 2022 |
| Externally published | Yes |
Bibliographical note
The material in this paper was not presented at any conference. This paper was recommended for publication in revised form by Associate Editor Graziano Chesi under the direction of Editor Sophie Tarbouriech.Publisher Copyright:
© 2021 Elsevier Ltd
Funding
This work was supported in part by the National Key Research and Development Program of China under Grant 2018YFB1306900 , in part by the National Natural Science Foundation of China under Grant U1913603 , Grant 62103322 , Grant 61860206008 , Grant 61773081 , Grant 61933012 , in part by Zhejiang Laboratory under Grant 2019NB0AB06 , in part by the Science and Technology Research Program of Chongqing Municipal Education Commission under Grant KJZD-M202100101 , in part by China Postdoctoral Science Foundation under Grant 2021M692567 , and in part by the GuangDong Basic and Applied Basic Research Foundation under Grant 2020A1515111187 .
Keywords
- Practical tracking
- Prescribed time control
- Robust adaptive control
- Uncertain nonlinear systems