Asymptotic Tracking of Second-Order Nonsmooth Feedback Stabilizable Unknown Systems With Prescribed Transient Response

This article considers the asymptotic tracking control problem for a class of nonlinear systems subject to predefined constraints for the system response, such as maximum overshoot or minimum convergence rate. In particular, by employing discontinuous control protocols and nonsmooth analysis, we ext...

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Bibliographic Details
Published inIEEE transactions on automatic control Vol. 66; no. 7; pp. 3296 - 3302
Main Authors Verginis, Christos K., Dimarogonas, Dimos V.
Format Journal Article
LanguageEnglish
Published New York IEEE 01.07.2021
The Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subjects
Asymptotic properties
Asymptotic stability
Convergence
Fields (mathematics)
funnel control
Nonlinear systems
nonsmooth systems
prescribed performance control
Protocols
robust adaptive control
Stability analysis
Tracking control
Trajectory
Transient response
uncertain systems
Uncertainty
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Summary:This article considers the asymptotic tracking control problem for a class of nonlinear systems subject to predefined constraints for the system response, such as maximum overshoot or minimum convergence rate. In particular, by employing discontinuous control protocols and nonsmooth analysis, we extend previous results on funnel control to guarantee at the same time asymptotic trajectory tracking. We consider second-order systems that are affine in the control input, and contain completely unknown nonlinear, and nonsmooth vector fields, with no boundedness or approximation/parametric factorization assumptions. Simulation results verify the theoretical findings.
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ISSN:0018-9286
1558-2523
1558-2523
DOI:10.1109/TAC.2020.3015785