A Framework for Prescribed-Time Control Design via Time-Scale Transformation
Abstract
This letter presents a unified framework for the design of prescribed-time controllers under time-varying input and state constraints for normal-form unknown nonlinear systems with uncertain input gain. The proposed approach is based on a time-domain mapping method by which any infinite-time system can be corresponded to a prescribed-time system and vice versa. It is shown that the design of a constrained nonasymptotic prescribed-time controller can be reduced to the asymptotic control design for an associated constrained infinite-time system. Fa\`a di Bruno's formula and Bell polynomials are used for a constructive representation of the associated infinite-time system. The presented results are not confined to a particular mapping function, which adds to the flexibility of the proposed scheme. It is shown that necessary and sufficient conditions on the uniform (practical) prescribed-time stability and attractivity can be obtained as corollaries of the main result.
Cite
@article{arxiv.2112.08496,
title = {A Framework for Prescribed-Time Control Design via Time-Scale Transformation},
author = {Amir Shakouri and Nima Assadian},
journal= {arXiv preprint arXiv:2112.08496},
year = {2021}
}
Comments
6 pages, 1 figure, accepted for publication in IEEE Control Systems Letters