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Proportional-Derivative (PD) control is a widely used control method in various engineering systems to enhance stability and performance. In a system with only proportional control, common issues include high maximum overshoot and oscillation, observed in both the error signal and its rate of change. This behavior can be divided into three distinct phases: initial overshoot, subsequent undershoot, and gradual stabilization.
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Prescribed-time command filtered control for a class uncertain nonlinear systems.

Shuai Jiang1, Haikuo Shen1, Lijing Dong1

  • 1School of Mechanical, Electronic and Control Engineering, Beijing Jiaotong University, Beijing, 100044, China.

ISA Transactions
|July 7, 2024
PubMed
Summary
This summary is machine-generated.

This study introduces a novel prescribed-time command filtered controller for uncertain nonlinear systems. The controller ensures rapid and periodic error convergence within a user-defined time, independent of initial conditions.

Keywords:
Adaptive controlCommand filtered controlPeriodic convergencePrescribed-time stabilityUncertain nonlinear system

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Area of Science:

  • Control Theory
  • Nonlinear Systems
  • Applied Mathematics

Background:

  • Implementing control strategies for nonlinear systems with uncertainties presents significant challenges.
  • Existing finite-time control methods often have limitations regarding flexibility and initial condition dependence.

Purpose of the Study:

  • To develop a novel prescribed-time command filtered controller for high-order nonlinear systems with unknown parameters.
  • To ensure rapid and periodic convergence of tracking errors within a predefined time frame.
  • To design a controller independent of system initial conditions.

Main Methods:

  • Definition of a prescribed-time function to guide controller design.
  • Development of a command filtered controller architecture.
  • Theoretical analysis to prove full-state tracking error convergence.
  • Simulation studies to validate controller performance.

Main Results:

  • The proposed controller guarantees swift error convergence within a specified time.
  • The controller exhibits periodic error convergence during operation.
  • Controller performance is independent of the system's initial states.
  • Theoretical analysis confirms convergence within the prescribed time.

Conclusions:

  • The developed controller offers enhanced adaptability and flexibility in nonlinear system control.
  • This work contributes to advancing prescribed-time control theory for uncertain systems.
  • The controller's independence from initial conditions marks a significant departure from traditional approaches.