Abstract
In this article, the prescribed-time tracking control problem for a class of strict-feedback systems with nonvanishing time-varying disturbances is investigated. First, a group of novel disturbance observers are established to observe the disturbances in prescribed time based on time axis shifting finite time-varying gains, and then the state feedback-based control scheme is proposed to realize the prescribed-time tracking control objective upon using the system transformation and adding power integrator technique. The proposed control scheme allows the output of the system to track the reference trajectory in prescribed time and the tracking error maintains zero after that prescribed settling time, making itself different from those most existing prescribed-time control results where the system only exists on the finite time interval based on infinity time-varying gains. The effectiveness of the theoretical results are confirmed by both numerical simulation and experimental studies on Turtlebot3-Burger robot.
| Original language | English |
|---|---|
| Pages (from-to) | 16368-16376 |
| Number of pages | 9 |
| Journal | IEEE Transactions on Industrial Electronics |
| Volume | 71 |
| Issue number | 12 |
| Early online date | 26 Apr 2024 |
| DOIs | |
| Publication status | Published - Dec 2024 |
| Externally published | Yes |
Bibliographical note
Publisher Copyright:© 1982-2012 IEEE.
Funding
This work was supported by the National Natural Science Foundation of China under Grant 61991400, Grant 61991403, Grant 62273064, Grant 62250710167, Grant 61860206008, Grant 61933012, and Grant 62203078.
Keywords
- Disturbance observer
- nonlinear system
- prescribed-time control
- state feedback