Finite-Time Trajectory Tracking Control of a Class of Nonlinear Discrete-Time Systems

A finite-time bounded tracking control problem for a class of linear discrete-time systems subject to disturbances is investigated. Firstly, by applying a difference method to constructing the error system, the problem is transformed into a finite-time boundedness problem of the output vector of the error system. In fact, this is a finite-time boundedness problem with respect to the partial variables. Secondly, based on the partial stability theory and the research methods of finite-time boundedness problem, a state feedback controller formulated in form of linear matrix inequality is proposed. Based on this, a finite-time bounded tracking controller of the original system is obtained. Finally, a numerical example is presented to illustrate the effectiveness of the controller.

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Output Tracking Control Based on Output Feedback with Adaptive PFC for Discrete-Time Systems

IFAC-PapersOnLine ◽

10.1016/j.ifacol.2020.12.2072 ◽

2020 ◽

Vol 53 (2) ◽

pp. 3809-3814

Author(s):

Seiya Fujii ◽

Ikuro Mizumoto ◽

Toru Yamamoto

Keyword(s):

Discrete Time ◽

Output Feedback ◽

Tracking Control ◽

Output Tracking ◽

Output Tracking Control ◽

Discrete Time Systems ◽

Time Systems

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Finite-time estimation algorithms for LPV discrete-time systems with application to output feedback stabilization

Automatica ◽

10.1016/j.automatica.2020.109436 ◽

2021 ◽

Vol 125 ◽

pp. 109436

Author(s):

Khadidja Chaib-Draa ◽

Ali Zemouche ◽

Fazia Bedouhene ◽

Rajesh Rajamani ◽

Yan Wang ◽

...

Keyword(s):

Discrete Time ◽

Output Feedback ◽

Finite Time ◽

Time Estimation ◽

Feedback Stabilization ◽

Estimation Algorithms ◽

Output Feedback Stabilization ◽

Discrete Time Systems ◽

Time Systems

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Robust finite-time trajectory tracking control for a space manipulator with parametric uncertainties and external disturbances

Proceedings of the Institution of Mechanical Engineers Part G Journal of Aerospace Engineering ◽

10.1177/09544100211014754 ◽

2021 ◽

pp. 095441002110147

Author(s):

Qijia Yao

Keyword(s):

Trajectory Tracking ◽

Finite Time ◽

Tracking Control ◽

Disturbance Observer ◽

Control Method ◽

Parametric Uncertainties ◽

External Disturbances ◽

Trajectory Tracking Control ◽

Space Manipulator ◽

Tracking Controller

Space manipulator is considered as one of the most promising technologies for future space activities owing to its important role in various on-orbit serving missions. In this study, a robust finite-time tracking control method is proposed for the rapid and accurate trajectory tracking control of an attitude-controlled free-flying space manipulator in the presence of parametric uncertainties and external disturbances. First, a baseline finite-time tracking controller is designed to track the desired position of the space manipulator based on the homogeneous method. Then, a finite-time disturbance observer is designed to accurately estimate the lumped uncertainties. Finally, a robust finite-time tracking controller is developed by integrating the baseline finite-time tracking controller with the finite-time disturbance observer. Rigorous theoretical analysis for the global finite-time stability of the whole closed-loop system is provided. The proposed robust finite-time tracking controller has a relatively simple structure and can guarantee the position and velocity tracking errors converge to zero in finite time even subject to lumped uncertainties. To the best of the authors’ knowledge, there are really limited existing controllers can achieve such excellent performance under the same conditions. Numerical simulations illustrate the effectiveness and superiority of the proposed control method.

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