控制理论与应用2023，Vol.40Issue(2)：248-255,8.DOI:10.7641/CTA.2022.11282
时变输出约束非完整系统的非缩放预设时间镇定控制设计
Prescribed-time stabilizing control of time-varying output constrained nonholonomic systems via non-scaling design
摘要
Abstract
This paper reports the problem of prescribed-time stabilization(PTS)for a kind of uncertain nonholonomic systems(NSs)in chained form with time-varying output constraints.To handle the obstacle caused by the output constraints,a tan-type barrier lyapunov function(BLF)is exploited.By suitably introducing the time-varying function into the virtual(actual)controllers,a non-scaling transformation design scheme for state feedback is developed,which forces the states of the closed-loop system(CLS)to zero in any prescribed finite time without disobeying the constraints.In comparison with the traditional scaling transformation design,the advantages of the proposed control strategy are that it both solves the computationally singular problem effectively and leads to a simpler controller by reducing the computation burden of the time-varying scaling function.Finally,the effectiveness of the proposed scheme is confirmed by the simulation results.关键词
非完整系统/时变输出约束/非缩放变换/预设时间镇定Key words
nonholonomic systems(NSs)/time-varying output constraints/non-scaling transformation/prescribed-time stabilization(PTS)引用本文复制引用
高芳征,刘义亭,李佩娟,赵贤林..时变输出约束非完整系统的非缩放预设时间镇定控制设计[J].控制理论与应用,2023,40(2):248-255,8.基金项目
Supported by the National Natural Science Foundation of China(61873120,62073187),the Key Research&Development Program of of Jiangsu Province(BE2021016-5)and the National Natural Science Foundation of Jiangsu Province(BK20201469). （61873120,62073187）
