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Volume 11 Issue 1
Jan.  2024

IEEE/CAA Journal of Automatica Sinica

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Article Navigation >  IEEE/CAA Journal of Automatica Sinica  > 2024  >  11(1): 219-230
D. Luo, Y. Wang, and Y. Song, “Practical prescribed time tracking control with bounded time-varying gain under non-vanishing uncertainties,” IEEE/CAA J. Autom. Sinica, vol. 11, no. 1, pp. 219–230, Jan. 2024. doi: 10.1109/JAS.2023.123738
Citation: D. Luo, Y. Wang, and Y. Song, “Practical prescribed time tracking control with bounded time-varying gain under non-vanishing uncertainties,” IEEE/CAA J. Autom. Sinica, vol. 11, no. 1, pp. 219–230, Jan. 2024. doi: 10.1109/JAS.2023.123738
shu

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

doi: 10.1109/JAS.2023.123738
Funds:  This work was 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), and the CAAI-Huawei MindSpore Open Fund
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    Abstract
  • 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 non-vanishing 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 ${\boldsymbol{g_{i}}}$ 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.

     

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