Practical Prescribed Time Tracking Control With Bounded Time-Varying Gain Under Non-Vanishing Uncertainties  

作　　者：Dahui Luo Yujuan Wang Yongduan Song 

机构地区：[1]the Key Laboratory of Dependable Service Computing in Cyber Physical Society,Ministry of Education,Chongqing University,Chongqing 400044 [2]the School of Automation,Chongqing University,Chongqing 400044 [3]the Star Institute for Intelligent Systems,Chongqing 400044 [4]IEEE

出　　处：《IEEE/CAA Journal of Automatica Sinica》2024年第1期219-230,共12页自动化学报（英文版）

基　　金：supported by the National Natural Science Foundation of China (61991400, 61991403, 62273064, 62250710167,61860206008, 61933012, 62203078);in part by the National Key Research and Development Program of China (2022YFB4701400/4701401);the Innovation Support Program for International Students Returning to China(cx2022016);the CAAI-Huawei MindSpore Open Fund。

摘　　要：This paper investigates the prescribed-time control(PTC) problem for a class of strict-feedback systems subject to non-vanishing uncertainties. The coexistence of mismatched uncertainties and non-vanishing disturbances makes PTC synthesis nontrivial. In this work, a control method that does not involve infinite time-varying gain is proposed, leading to a practical and global prescribed time tracking control solution for the strict-feedback systems, in spite of both the mismatched and nonvanishing uncertainties. Different from methods based on control switching to avoid the issue of infinite control gain that involves control discontinuity at the switching point, in our method a softening unit is exclusively included to ensure the continuity of the control action. Furthermore, in contrast to most existing prescribed-time control works where the control scheme is only valid on a finite time interval, in this work, the proposed control scheme is valid on the entire time interval. In addition, the prior information on the upper or lower bound of gi is not in need,enlarging the applicability of the proposed method. Both the theoretical analysis and numerical simulation confirm the effectiveness of the proposed control algorithm.

关 键 词：Adaptive control prescribed time control(PTC) strict-feedback systems tracking control 

分 类 号：TP13[自动化与计算机技术—控制理论与控制工程]