Fixed-Time Stabilization for a Class of Output-Constrained Nonlinear Systems
针对一类带输出约束的非线性系统，提出了一种固定时间控制方案，其稳定时间上界可独立于初始状态并通过参数调至任意小，同时利用障碍Lyapunov函数避免输出越界，并通过串联弹性执行器案例验证了有效性。
The work has devised a novel fixed-time control scheme for a class of nonlinear systems with output constraints. Two distinctive features are incorporated into the gained results. One is that the upper bound of settling time for the closed-loop system can be estimated without dependence on system initial states, and hence, can be acquired arbitrarily small through tuning control design parameters. The other is that the output constraint can be handled by means of a barrier Lyapunov function (BLF). Via the BLF and the backstepping-like technique, a fixed-time controller, which can cope with a type of nonlinear systems concurrently with and without output constraints, is systematically built. The rigorous analysis on the strength of the Lyapunov theory is given to show that the investigated system under the proposed controller is fixed-time stable, and the violation of a preset output constraint is averted. The case studies of a series elastic actuator system are offered to substantiate the derived theoretical results.