具有FxT-ISS逆动力学的非线性串级系统的自适应规定时间控制

IF 5.9 2区计算机科学 Q1 AUTOMATION & CONTROL SYSTEMS

Automatica Pub Date : 2025-08-23 DOI:10.1016/j.automatica.2025.112527

Jiangbo Yu , Chengdong Li , Zhengtao Ding , Yuqiang Wu

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引用次数: 0

摘要

本文研究了具有不可测逆动力学和非线性参数不确定性的非线性串级系统的自适应规定时间控制问题。利用固定时间输入-状态稳定（FxT-ISS）和FxT-ISS李雅普诺夫函数的概念来表征逆动力学系统，提出了一种两阶段的规定时间控制方案，该方案确保系统状态到达原点并保持在规定时间瞬间内。与已有的自适应定时控制方法不同，本文提出了一种基于时变部分状态反馈确定系统定时稳定性的新方法。以摆系统的定时设定值跟踪控制为例说明了所提出的控制方案。

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Adaptive prescribed-time control for nonlinear cascade systems with FxT-ISS inverse dynamics

In this paper we consider the adaptive prescribed-time control problem for nonlinear cascade systems with unmeasured inverse dynamics and nonlinearly parametric uncertainty. Thanks to the notions of fixed-time input-to-state stability/stable (FxT-ISS) and FxT-ISS Lyapunov functions to characterize the system of inverse dynamics, we present a two-stage prescribed-time control scheme, which ensures that the system states reach the origin and keep afterwards within the prescribed-time instant. Different from the adaptive prescribed-time control schemes in literatures, we develop a novel theoretical tool to determine the prescribed-time stability via time-varying partial-state feedback in this paper. The proposed control scheme is illustrated by means of the prescribed-time set-point tracking control in a pendulum system.

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来源期刊

Automatica 工程技术-工程：电子与电气

CiteScore

10.70

自引率

7.80%

发文量

617

审稿时长

5 months

期刊介绍： Automatica is a leading archival publication in the field of systems and control. The field encompasses today a broad set of areas and topics, and is thriving not only within itself but also in terms of its impact on other fields, such as communications, computers, biology, energy and economics. Since its inception in 1963, Automatica has kept abreast with the evolution of the field over the years, and has emerged as a leading publication driving the trends in the field. After being founded in 1963, Automatica became a journal of the International Federation of Automatic Control (IFAC) in 1969. It features a characteristic blend of theoretical and applied papers of archival, lasting value, reporting cutting edge research results by authors across the globe. It features articles in distinct categories, including regular, brief and survey papers, technical communiqués, correspondence items, as well as reviews on published books of interest to the readership. It occasionally publishes special issues on emerging new topics or established mature topics of interest to a broad audience. Automatica solicits original high-quality contributions in all the categories listed above, and in all areas of systems and control interpreted in a broad sense and evolving constantly. They may be submitted directly to a subject editor or to the Editor-in-Chief if not sure about the subject area. Editorial procedures in place assure careful, fair, and prompt handling of all submitted articles. Accepted papers appear in the journal in the shortest time feasible given production time constraints.