TY - JOUR
T1 - Robust adaptive prescribed-time stabilization via output feedback for uncertain nonlinear strict-feedback-like systems
AU - Krishnamurthy, Prashanth
AU - Khorrami, Farshad
AU - Krstic, Miroslav
N1 - Publisher Copyright:
© 2019 European Control Association
PY - 2020/9
Y1 - 2020/9
N2 - 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.
AB - 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.
KW - Adaptive control
KW - Finite-time stabilization
KW - High-gain control
KW - Output-feedback
KW - Prescribed-time stabilization
KW - Uncertain nonlinear systems
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U2 - 10.1016/j.ejcon.2019.09.005
DO - 10.1016/j.ejcon.2019.09.005
M3 - Article
AN - SCOPUS:85072781019
VL - 55
SP - 14
EP - 23
JO - European Journal of Control
JF - European Journal of Control
SN - 0947-3580
ER -