Abstract
In this work, we present a control approach to achieve practical prescribed time tracking for a class of normal-form nonaffine systems with non-vanishing yet nonparametric uncertainties. We make use of a prescribed time function to perform error transformation, with which we build the control scheme upon the transferred error, ensuring that the tracking error converges to an adjustably small residual set within the prescribed time, with a bounded, continuous and C 1 control action. Furthermore, as the proposed control is directly built upon regular feedback of the transferred error, the settling time is independent of system initial conditions and other design parameters, thus can be pre-specified, which is essentially different from traditional finite-time controls (based upon fractional power state/error feedback). The effectiveness of the proposed control scheme is also confirmed by numerical simulation.
| Original language | English |
|---|---|
| Pages (from-to) | 2759-2779 |
| Number of pages | 21 |
| Journal | Journal of the Franklin Institute |
| Volume | 356 |
| Issue number | 5 |
| Early online date | 15 Feb 2019 |
| DOIs | |
| Publication status | Published - Mar 2019 |
| Externally published | Yes |
Bibliographical note
Publisher Copyright:© 2019 The Franklin Institute
Funding
This work was supported in part by the National Natural Science Foundation of China under Grant 61860206008, in part by the National Natural Science Foundation of China under Grant 61773081, in part by the Fundamental Research Funds for the Central Universities under Grant 2018CDQYZDH0039, and in part by the China Scholarship Council.