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Research output: Contribution to Journal/Magazine › Journal article › peer-review
Research output: Contribution to Journal/Magazine › Journal article › peer-review
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TY - JOUR
T1 - Adaptive Event-Triggered Control for Nonlinear Systems With Asymmetric State Constraints
T2 - A Prescribed-Time Approach
AU - Wang, Ziwei
AU - Lam, Hak-Keung
AU - Guo, Yao
AU - Xiao, Bo
AU - Li, Yanan
AU - Su, Xiaojie
AU - Yeatman, Eric
AU - Burdet, Etienne
N1 - ©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.
PY - 2023/6/30
Y1 - 2023/6/30
N2 - Finite/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 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.
AB - Finite/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 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.
U2 - 10.1109/TAC.2022.3194880
DO - 10.1109/TAC.2022.3194880
M3 - Journal article
VL - 68
SP - 3625
EP - 3632
JO - IEEE Transactions on Automatic Control
JF - IEEE Transactions on Automatic Control
SN - 0018-9286
IS - 6
ER -