论文标题
关于具有安定时间的预定义上限的非自主固定时间控制器的设计
On the design of non-autonomous fixed-time controllers with a predefined upper bound of the settling time
论文作者
论文摘要
本文旨在引入一种设计方法，以在固定时间内使用预定义的上限（UBST）稳定集成链。这种方法基于时间变化的收益（时态发生器），随着时间的变化接近预定义的收敛时间。我们介绍条件，以使每个非零轨迹收敛在预定义的时间与反馈定律相比比以前的方法更简单。此外，我们提出的结果使得在奇异性发生之前就可以达到原点，从而在实践中可以实现这种方法。一项重大贡献，因为基于时变收益的当前结果要求随着时间的时间接近处方/预定时间的时间，时间变化的收益趋于无穷大。 此外，我们的方法即使存在有限的干扰（已知界限），也可以保证固定的时间收敛与预定义的UBST，并提供了一种方法，可以重新设计一个自主固定时控制器，在这种方法中，UBST对闭环系统的估计值非常保守地将其不太保守，并具有预期的\ textit \ textit {ubst {ubst {ubst}可以设置为仲裁。我们提出数值示例，以说明该方法的有效性以及与现有的自主固定时间控制器的比较。
This paper aims to introduce a design methodology to stabilize a chain of integrators in a fixed-time with predefined Upper Bound for the Settling-Time (UBST). This approach is based on time-varying gains (time-base generator) that become singular as the time approaches the predefined convergence time. We present the conditions such that every nonzero trajectory convergence exactly at the predefined time with feedback laws that are simpler than in previous approaches. Additionally, we present results such that the origin is reached before the singularity occurs, making this approach realizable in practice. A significant contribution, since current results, based on time-varying gains, required the time-varying gain to tend to infinity as the time approaches the prescribed/predefined-time. Moreover, our approach guarantees fixed-time convergence with predefined UBST even in the presence of bounded disturbances (with known bound) and provides a methodology to re-design an autonomous fixed-time controller where the estimate of the UBST for the closed-loop system is very conservative into a less conservative one with predefined \textit{UBST} that can be set arbitrarily tight. We present numerical examples to illustrate the effectiveness of the approach together with comparisons with existing autonomous fixed-time controllers.
