Prescribed-Time Control of Disturbed Systems With State and Input Constraints

• 成果类型: Article
• 署名作者: Vazquez, Carlos Renato
• 署名单位: Tecnologico de Monterrey
• 刊物名称: IEEE TRANSACTIONS ON AUTOMATIC CONTROL
• ISSN/ISSBN: 0018-9286
• DOI: 10.1109/TAC.2024.3438329
• 发表日期: 2025
• 页码: 619-626
• 关键词: convergence; control systems; Linear systems; vectors; trajectory; Nonlinear systems; Time-varying systems; control design; bounded control; prescribed-time control

摘要

Practical control applications frequently require state and input constraints. Even more, certain applications may require the controller to fit with a strict time scheduling. In this context, this article proposes a control scheme that ensures convergence to the origin in prescribed-time for both linear controllable systems and nonlinear systems in the normal form, under nonvanishing disturbances. In this, the settling time is an explicit parameter given by the designer. Moreover, a planning algorithm is introduced for linear systems to efficiently compute a settling time, close to a desired settling time, so the resulting trajectory satisfies required state and input constraints.