论文标题
有限和固定时间的非重塑稳定器和安全过滤器均质反馈
Finite- and Fixed-Time Nonovershooting Stabilizers and Safety Filters by Homogeneous Feedback
论文作者
论文摘要
非重新进行稳定是一种安全控制的一种形式，用户选择的设定点位于安全集的边界。第二作者及其合着者已经解决了指数的非稳定稳定，包括确定性和随机干扰系统的适当扩展。在本文中，我们为非线性系统的固定时间非稳定稳定而开发了均匀的反馈定律，这些系统是可以在具有完整相对程度（即与集成链链中差异上等同的系统）线性化的非线性输出系统的。 These homogeneous feedback laws can also assume the secondary role of `fixed-time safety filters' (FxTSf filters) which keep the system within the closed safe set for all time but, in the case where the user's nominal control commands approach to the unsafe set, allow the system to reach the boundary of the safe set no later than a desired time that is independent of nominal control and independent of the value of the state at the time the nominal control begins to be overridden.
Non-overshooting stabilization is a form of safe control where the setpoint chosen by the user is at the boundary of the safe set. Exponential non-overshooting stabilization, including suitable extensions to systems with deterministic and stochastic disturbances, has been solved by the second author and his coauthors. In this paper we develop homogeneous feedback laws for fixed-time nonovershooting stabilization for nonlinear systems that are input-output linearizable with a full relative degree, i.e., for systems that are diffeomorphically equivalent to the chain of integrators. These homogeneous feedback laws can also assume the secondary role of `fixed-time safety filters' (FxTSf filters) which keep the system within the closed safe set for all time but, in the case where the user's nominal control commands approach to the unsafe set, allow the system to reach the boundary of the safe set no later than a desired time that is independent of nominal control and independent of the value of the state at the time the nominal control begins to be overridden.
