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

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 nonline...

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Bibliographic Details
Published inIEEE transactions on automatic control Vol. 68; no. 6; pp. 3664 - 3671
Main Authors Ye, Hefu, Song, Yongduan
Format Journal Article
LanguageEnglish
Published New York The Institute of Electrical and Electronics Engineers, Inc. (IEEE) 01.06.2023
Subjects
Initial conditions
Linear systems
MIMO (control systems)
Nonlinear control
Nonlinear systems
SISO (control systems)
Tracking control
Uncertainty
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Summary: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.
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ISSN:0018-9286
1558-2523
DOI:10.1109/TAC.2022.3194100