A Lyapunov Characterization of Prescribed Performance Control Systems

• 成果类型: Article
• 署名作者: Wang, Yutian; Liu, Tengfei; Shim, Hyungbo; Rovithakis, George A.; Jiang, Zhong-Ping
• 署名单位: University of Cyprus; Northeastern University - China; Seoul National University (SNU); Aristotle University of Thessaloniki; New York University; New York University Tandon School of Engineering
• 刊物名称: IEEE TRANSACTIONS ON AUTOMATIC CONTROL
• ISSN/ISSBN: 0018-9286
• DOI: 10.1109/TAC.2024.3399090
• 发表日期: 2024
• 页码: 7917-7924
• 关键词: Lyapunov methods; control systems; Closed loop systems; vectors; Perturbation methods; Heuristic algorithms; Upper bound; Input-to-state practical stability (ISpS); Lyapunov function; prescribed performance control

摘要

This article contributes a Lyapunov formulation for prescribed performance controller designs. In particular, we first show that the closed-loop system of a typical class of prescribed performance control systems can be transformed into an interconnection of input-to-state practically stable (ISpS) subsystems characterized by ISpS-Lyapunov functions. Then, we take advantage of the gain-interconnections between the subsystems and construct a Lyapunov function for the closed-loop system. The proposed approach is validated through prescribed performance control for both single-input single-output (SISO) and multi-input multi-output (MIMO) plants, as well as systems not necessarily in the lower-triangular form and systems with dynamic uncertainty.