Robust adaptive prescribed-time stabilization via output feedback for uncertain nonlinear strict-feedback-like systems

Prashanth Krishnamurthy, Farshad Khorrami, Miroslav Krstic

Research output: Contribution to journalArticlepeer-review

Abstract

While control design objectives are formulated most commonly in terms of asymptotic behavior (as time goes to infinity) of signals in the closed-loop system, the recently developed notion of “prescribed-time” stabilization considers closed-loop signal behavior over a fixed (prescribed) time interval and addresses the problem of regulating the state to the origin in the prescribed time irrespective of the initial state. While prior results on prescribed-time stabilization considered a chain of integrators with uncertainties matched with the control input (i.e., normal form), we consider here a general class of nonlinear strict-feedback-like systems with state-dependent uncertainties allowed throughout the system dynamics including uncertain parameters (without requirement of any known bounds on the uncertain parameters). Furthermore, we address the output-feedback problem and show that a dynamic observer and controller can be designed based on our dual dynamic high gain scaling based design methodology along with a novel temporal transformation and form of the scaling dynamics with temporal forcing terms to achieve both state estimation and regulation in the prescribed time.

Original languageEnglish (US)
Pages (from-to)14-23
Number of pages10
JournalEuropean Journal of Control
Volume55
DOIs
StatePublished - Sep 2020

Keywords

  • Adaptive control
  • Finite-time stabilization
  • High-gain control
  • Output-feedback
  • Prescribed-time stabilization
  • Uncertain nonlinear systems

ASJC Scopus subject areas

  • Engineering(all)

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