TY - JOUR
T1 - Fixed-Time Stabilization for a Class of Output-Constrained Nonlinear Systems
AU - Mei, Keqi
AU - Ding, Shihong
AU - Chen, Chih Chiang
N1 - Funding Information:
This work was supported in part by the National Natural Science Foundation of China under Grant 61973142; in part by the Priority Academic Program Development of Jiangsu Higher Education Institutions; and in part by the Ministry of Science and Technology (MOST), Taiwan, under Grant MOST 110-2221-E-006-173.
Publisher Copyright:
© 2013 IEEE.
PY - 2022/10/1
Y1 - 2022/10/1
N2 - The work has devised a novel fixed-time control scheme for a class of nonlinear systems with output constraints. Two distinctive features are incorporated into the gained results. One is that the upper bound of settling time for the closed-loop system can be estimated without dependence on system initial states, and hence, can be acquired arbitrarily small through tuning control design parameters. The other is that the output constraint can be handled by means of a barrier Lyapunov function (BLF). Via the BLF and the backstepping-like technique, a fixed-time controller, which can cope with a type of nonlinear systems concurrently with and without output constraints, is systematically built. The rigorous analysis on the strength of the Lyapunov theory is given to show that the investigated system under the proposed controller is fixed-time stable, and the violation of a preset output constraint is averted. The case studies of a series elastic actuator system are offered to substantiate the derived theoretical results.
AB - The work has devised a novel fixed-time control scheme for a class of nonlinear systems with output constraints. Two distinctive features are incorporated into the gained results. One is that the upper bound of settling time for the closed-loop system can be estimated without dependence on system initial states, and hence, can be acquired arbitrarily small through tuning control design parameters. The other is that the output constraint can be handled by means of a barrier Lyapunov function (BLF). Via the BLF and the backstepping-like technique, a fixed-time controller, which can cope with a type of nonlinear systems concurrently with and without output constraints, is systematically built. The rigorous analysis on the strength of the Lyapunov theory is given to show that the investigated system under the proposed controller is fixed-time stable, and the violation of a preset output constraint is averted. The case studies of a series elastic actuator system are offered to substantiate the derived theoretical results.
UR - https://www.scopus.com/pages/publications/85124714548
UR - https://www.scopus.com/pages/publications/85124714548#tab=citedBy
U2 - 10.1109/TSMC.2022.3146011
DO - 10.1109/TSMC.2022.3146011
M3 - Article
AN - SCOPUS:85124714548
SN - 2168-2216
VL - 52
SP - 6498
EP - 6510
JO - IEEE Transactions on Systems, Man, and Cybernetics: Systems
JF - IEEE Transactions on Systems, Man, and Cybernetics: Systems
IS - 10
ER -