Prescribed-Time Tracking Control of MIMO Nonlinear Systems With Nonvanishing Uncertainties

• 成果类型: Article
• 署名作者: Ye, Hefu; Song, Yongduan
• 署名单位: Chongqing University
• 刊物名称: IEEE TRANSACTIONS ON AUTOMATIC CONTROL
• ISSN/ISSBN: 0018-9286
• DOI: 10.1109/TAC.2022.3194100
• 发表日期: 2023
• 页码: 3664-3671
• 关键词: MIMO communication; Time-varying systems; Nonlinear systems; CONVERGENCE; uncertainty; Symmetric matrices; trajectory; Multi-input-multi-output (MIMO) nonlinear systems; prescribed convergence time; stability analysis

摘要

It is highly desirable yet challenging to achieve zero-error tracking within a given short time period for uncertain multi-input-multi-output (MIMO) nonlinear systems. Previous results are primarily state-regulation oriented and are valid only for single-input single-output linear systems or nonlinear systems in normal-form. This note presents a tracking control solution for high-order MIMO nonlinear systems in strict-feedback-like form. The proposed control is able to achieve precise tracking within the prescribed time irrespective of initial conditions in the presence of mismatched uncertainties and nonvanishing disturbances.