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A class of predefined-time controllers for uncertain second-order systems

Abstract : This paper proposes a novel formulation for robust predefined-time stabilisation of a class of second-order systems with matched perturbations. The presented approach allows designing a family of controllers that enforce a predefined-time sliding motion, even in the presence of unknown but bounded perturbations, such that, during the sliding motion, the state slides to the origin in predefined-time. Consequently, the origin of the closed-loop system is globally predefined-time stable. The analysis and design of the proposed controllers rely on the Lyapunov framework and a novel class of nonlinear functions, providing stability and robustness conditions for the closed-loop system. Finally, numerical simulations are conducted to highlight the reliability of the proposed scheme.
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https://hal-uphf.archives-ouvertes.fr/hal-03423316
Contributor : Mylène Delrue Connect in order to contact the contributor
Submitted on : Wednesday, November 10, 2021 - 9:12:17 AM
Last modification on : Thursday, November 11, 2021 - 4:00:03 AM

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Juan Diego Sanchez-Torres, Aldo-Jonathan Muñoz-Vázquez, Michael Defoort, Esteban Jiménez-Rodríguez, Alexander Loukianov. A class of predefined-time controllers for uncertain second-order systems. European Journal of Control, Elsevier, 2020, 53, pp.52-58. ⟨10.1016/j.ejcon.2019.10.003⟩. ⟨hal-03423316⟩

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