TY - GEN
T1 - Practical Prescribed-Time Stabilization and Tracking for Uncertain Nonlinear Systems with Disturbance Inputs
AU - Krishnamurthy, P.
AU - Khorrami, F.
N1 - Publisher Copyright:
© 2021 IEEE.
PY - 2021
Y1 - 2021
N2 - We develop an output-feedback control design that achieves practical prescribed-time stabilization, i.e., convergence to within a pre-specified neighborhood around the origin within a pre-specified ("prescribed") time interval. The control design is applicable to a class of uncertain nonlinear systems in a strict-feedback-like form with parametric and functional uncertainties throughout the system as well as exogenous disturbance inputs. The designed output-feedback control design achieves prescribed-time convergence of both the observer errors and the system state variables as well as the control input. Additionally, by considering the limiting case as the size of the desired convergence neighborhood around the origin is reduced to zero, it is shown that the prior results on prescribed-time stabilization (to zero in prescribed time) can be obtained without having to explicitly introduce the temporal scale transformation used in the prior works. It is also shown that the control design approach can be applied to tracking problems to achieve practical convergence of tracking errors.
AB - We develop an output-feedback control design that achieves practical prescribed-time stabilization, i.e., convergence to within a pre-specified neighborhood around the origin within a pre-specified ("prescribed") time interval. The control design is applicable to a class of uncertain nonlinear systems in a strict-feedback-like form with parametric and functional uncertainties throughout the system as well as exogenous disturbance inputs. The designed output-feedback control design achieves prescribed-time convergence of both the observer errors and the system state variables as well as the control input. Additionally, by considering the limiting case as the size of the desired convergence neighborhood around the origin is reduced to zero, it is shown that the prior results on prescribed-time stabilization (to zero in prescribed time) can be obtained without having to explicitly introduce the temporal scale transformation used in the prior works. It is also shown that the control design approach can be applied to tracking problems to achieve practical convergence of tracking errors.
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U2 - 10.1109/CDC45484.2021.9683230
DO - 10.1109/CDC45484.2021.9683230
M3 - Conference contribution
AN - SCOPUS:85126051551
T3 - Proceedings of the IEEE Conference on Decision and Control
SP - 4588
EP - 4593
BT - 60th IEEE Conference on Decision and Control, CDC 2021
PB - Institute of Electrical and Electronics Engineers Inc.
T2 - 60th IEEE Conference on Decision and Control, CDC 2021
Y2 - 13 December 2021 through 17 December 2021
ER -