Adaptive Prescribed-Time Stabilization of Uncertain Nonlinear Systems: A Time-Transformation Method
本文提出一种时间变换方法，结合经典自适应技术，将非线性系统的预设时间镇定问题转化为渐近稳定问题，简化了控制器设计，并通过仿真验证了方法有效性。
This article addresses the problem of prescribed-time stabilization of nonlinear systems with the features of unknown control directions and time-varying uncertain parameters based on a time-transformation method. The basic ideology relies on a newly established time-transformation method that incorporates the classical adaptive technique, converting the prescribed-time stable control problem of the original system into an asymptotically stable problem of its time-transformed stretched form. Unlike the existing literature, the time transformation method in this article directly gives the adaptive laws before and after the time transformation, which greatly reduces the complexity of designing the adaptive prescribed-time controller due to the fact that the design of the adaptive law in the stretched time domain only needs to satisfy the asymptotic stability criterion. Finally, the proposed methodology is validated by a simulation example.