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 journalArticle

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)
JournalEuropean Journal of Control
DOIs
StateAccepted/In press - Jan 1 2019

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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