论文标题
在控制输入限制下的固定时间稳定域的表征
Characterization of Domain of Fixed-time Stability under Control Input Constraints
论文作者
论文摘要
在本文中，我们研究了控制输入限制对FXTS平衡点吸引域的影响。我们首先在FXTS上提出一个新的结果，其中我们允许在Lyapunov函数的时间导数中呈正项。我们根据在Lyapunov函数的时间导数中出现的正术语和负术语的系数来为吸引域以及对均衡的沉降时间提供分析表达式。我们表明，在存在添加剂，消失的干扰存在下，该结果是FXTS平衡的稳健表征。我们使用新的fxts导致制定了可行的二次程序（QP），该程序计算控制输入，该输入在存在控制输入约束的情况下，将一类非线性，控制型系统的轨迹驱动到目标集。
In this paper, we study the effect of control input constraints on the domain of attraction of an FxTS equilibrium point. We first present a new result on FxTS, where we allow a positive term in the time derivative of the Lyapunov function. We provide analytical expressions for the domain of attraction and the settling time to the equilibrium in terms of the coefficients of the positive and negative terms that appear in the time derivative of the Lyapunov function. We show that this result serves as a robustness characterization of FxTS equilibria in the presence of an additive, vanishing disturbances. We use the new FxTS result in formulating a provably feasible quadratic program (QP) that computes control inputs that drive the trajectories of a class of nonlinear, control-affine systems to a goal set, in the presence of control input constraints.
