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Adaptive event-triggered control for nonlinear systems with asymmetric state constraints: a prescribed-time approach
journal contribution
posted on 2023-06-10, 04:15 authored by Ziwei Wang, Hak-Keung Lam, Yao Guo, Bo Xiao, Yanan LiYanan Li, Xiaojie Su, Eric Yeatman, Etienne BurdetFinite/Fixed-time control yields a promising tool to optimize a system’s settling time, but lacks the ability to separately define the settling time and the convergence domain (known as practically prescribed-time stability, 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 exponentialtype 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.
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Publication status
- Published
File Version
- Accepted version
Journal
IEEE Transactions on Automatic ControlISSN
0018-9286Publisher
IEEEExternal DOI
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1-8Department affiliated with
- Engineering and Design Publications
Notes
© 2022 IEEE. Personal use of this material is permitted. Permission from IEEE must be obtained for all other uses, in any current or future media, including reprinting/republishing this material for advertising or promotional purposes, creating new collective works, for resale or redistribution to servers or lists, or reuse of any copyrighted component of this work in other works.Full text available
- No
Peer reviewed?
- Yes
Legacy Posted Date
2022-07-13First Open Access (FOA) Date
2022-08-18First Compliant Deposit (FCD) Date
2022-07-12Usage metrics
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