TY - GEN
T1 - Prescribed-Time Stabilizing Controller Design for a Class of Uncertain Non-Affine FASs
AU - Zhang, Xue
AU - Duan, Guang Ren
N1 - Publisher Copyright:
© 2026 IEEE.
PY - 2026
Y1 - 2026
N2 - Based on the fully actuated system (FAS) approach, this paper focuses on the prescribed-time control problem of a class of non-affine FASs with nonlinear coupled uncertainties. For FASs satisfying the linear growth condition, the function permitting stability within a prescribed time is constructed through a class of parameterized Lyapunov equations, and a sequential time-varying state feedback controller is proposed to ensure prescribed-time stabilization of the closed-loop system. With the help of a class of Lyapunov-like functions and the piecewise analysis strategy, the theoretical verification of system stability is completed. Simulation results on a variable-stiffness flexible-joint robot fully demonstrate the feasibility and effectiveness of the proposed method.
AB - Based on the fully actuated system (FAS) approach, this paper focuses on the prescribed-time control problem of a class of non-affine FASs with nonlinear coupled uncertainties. For FASs satisfying the linear growth condition, the function permitting stability within a prescribed time is constructed through a class of parameterized Lyapunov equations, and a sequential time-varying state feedback controller is proposed to ensure prescribed-time stabilization of the closed-loop system. With the help of a class of Lyapunov-like functions and the piecewise analysis strategy, the theoretical verification of system stability is completed. Simulation results on a variable-stiffness flexible-joint robot fully demonstrate the feasibility and effectiveness of the proposed method.
KW - Fully Actuated System Approach
KW - Parameterized Lyapunov Equation
KW - Prescribed-time Control
KW - State Feedback
UR - https://www.scopus.com/pages/publications/105043544202
U2 - 10.1109/FASTA70174.2026.11549450
DO - 10.1109/FASTA70174.2026.11549450
M3 - 会议稿件
AN - SCOPUS:105043544202
T3 - Proceedings of the 5th Conference on Fully Actuated System Theory and Applications, FASTA 2026
SP - 82
EP - 87
BT - Proceedings of the 5th Conference on Fully Actuated System Theory and Applications, FASTA 2026
PB - Institute of Electrical and Electronics Engineers Inc.
T2 - 5th Conference on Fully Actuated System Theory and Applications, FASTA 2026
Y2 - 22 May 2026 through 24 May 2026
ER -