Finite- and Fixed-Time Nonovershooting Stabilizers and Safety Filters by Homogeneous Feedback

• 成果类型: Article
• 署名作者: Polyakov, Andrey; Krstic, Miroslav
• 署名单位: Inria; University of California System; University of California San Diego
• 刊物名称: IEEE TRANSACTIONS ON AUTOMATIC CONTROL
• ISSN/ISSBN: 0018-9286
• DOI: 10.1109/TAC.2023.3237482
• 发表日期: 2023
• 页码: 6434-6449
• 关键词: Control design; nonlinear control systems; Robust control

摘要

Nonovershooting stabilization is a form of safe control where the setpoint chosen by the user is at the boundary of the safe set. In this article, we develop homogeneous feedback laws for fixed-time nonovershooting stabilization for nonlinear systems that are input-output linearizable with a full relative degree, i.e., for systems that are diffeomorphically equivalent to the chain of integrators. These homogeneous feedback laws can also assume the secondary role of fixed-time safety filters, which keep the system within the closed safe set for all time but, in the case where the user's nominal control commands approach to the unsafe set, allow the system to reach the boundary of the safe set no later than a desired time that is independent of nominal control and independent of the value of the state at the time the nominal control begins to be overridden.