沉降时间
控制理论(社会学)
非完整系统
理论(学习稳定性)
水准点(测量)
上下界
班级(哲学)
计算机科学
数学
控制(管理)
控制工程
工程类
移动机器人
机器人
阶跃响应
机器学习
数学分析
人工智能
地理
大地测量学
作者
Juan Diego Sánchez‐Torres,Michaël Defoort,Aldo Jonathan Muñoz‐Vázquez
标识
DOI:10.1080/00207179.2019.1569262
摘要
This paper deals with the predefined-time stabilisation problem for a class of uncertain chained-form nonholonomic systems. Based on a novel generalised Lyapunov-like characterisation of predefined-time stability, new predefined-time controllers are introduced for a class of first and second order systems with matched perturbations. Contrary to existing finite-time and fixed-time schemes, an upper bound of the settling time is an easily tuneable control parameter. Then, these results for first and second order systems are used to design a switching strategy, which guarantees the predefined-time stability of the closed-loop system. The switching time and the settling-time can be easily tuned according to the control parameters. A benchmark example is presented to show the effectiveness of the proposed method.
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