Prescribed Performance Control for Discontinuous Output Reference Tracking

• 成果类型: Article
• 署名作者: Fotiadis, Filippos; Rovithakis, George A.
• 署名单位: University System of Georgia; Georgia Institute of Technology; Aristotle University of Thessaloniki
• 刊物名称: IEEE TRANSACTIONS ON AUTOMATIC CONTROL
• ISSN/ISSBN: 0018-9286
• DOI: 10.1109/TAC.2020.3046216
• 发表日期: 2021
• 页码: 4409-4416
• 关键词: trajectory; MIMO communication; system dynamics; STANDARDS; control design; Complexity theory; Closed loop systems; Discontinuous reference; impulsive systems; output tracking; prescribed performance

摘要

This article considers the problem of prescribed performance tracking control for a class of uncertain, multi-input multi-output (MIMO) nonlinear systems having a low-triangular structure, with possibly discontinuous reference signals. Prescribed performance means that the output tracking errors should converge to a prescribed maximum residual set in fixed time, exhibiting a predefined maximum overshoot. The controller we propose is of low complexity and is designed according to the philosophy of the prescribed performance control (PPC) methodology. However, significant modifications on the standard PPC design are provided to successfully handle the presence of discontinuities in the reference. Key characteristic is the incorporation of impulsive dynamics in the control design, leading to an impulsive closed-loop system. Knowledge of neither the future values of the reference signal nor the time instants of the reference discontinuities is required. Simulation results clarify and verify theoretical findings.