Adaptive Event-Triggered Control for Nonlinear Systems With Asymmetric State Constraints : A Prescribed-Time Approach

Wang, Ziwei and Lam, Hak-Keung and Guo, Yao and Xiao, Bo and Li, Yanan and Su, Xiaojie and Yeatman, Eric and Burdet, Etienne (2023) Adaptive Event-Triggered Control for Nonlinear Systems With Asymmetric State Constraints : A Prescribed-Time Approach. IEEE Transactions on Automatic Control, 68 (6). pp. 3625-3632. ISSN 0018-9286

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Abstract

Finite/Fixed-time control yields a promising tool to optimize a system&#x0027;s settling time, but lacks the ability to separately define the settling time and the convergence domain (known as <italic>practically prescribed-time stability</italic>, PPTS). We provide a sufficient condition for PPTS based on a new piecewise exponential function, which decouples the settling time and convergence domain into separately user-defined parameters. We propose an adaptive event-triggered prescribed-time control scheme for nonlinear systems with asymmetric output constraints, using an exponential-type barrier Lyapunov function. We show that this PPTS control scheme can guarantee tracking error convergence performance, while restricting the output state according to the prescribed asymmetric constraints. Compared with traditional finite/fixed-time control, the proposed methodology yields separately user-defined settling time and convergence domain without the prior information on disturbance. Moreover, asymmetric state constraints can be handled in the control structure through bias state transformation, which offers an intuitive analysis technique for general constraint issues. Simulation and experiment results on a heterogeneous teleoperation system demonstrate the merits of the proposed control scheme.

Item Type:
Journal Article
Journal or Publication Title:
IEEE Transactions on Automatic Control
Additional Information:
©2022 IEEE. Personal use of this material is permitted. However, permission to reprint/republish this material for advertising or promotional purposes or for creating new collective works for resale or redistribution to servers or lists, or to reuse any copyrighted component of this work in other works must be obtained from the IEEE.
Uncontrolled Keywords:
Data Sharing Template/no
Subjects:
?? nocontrol and systems engineeringcomputer science applicationselectrical and electronic engineering ??
ID Code:
175578
Deposited By:
Deposited On:
07 Sep 2022 09:15
Refereed?:
Yes
Published?:
Published
Last Modified:
19 Mar 2024 00:47