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| Main Author: | |
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| Format: | Preprint |
| Published: |
2025
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| Subjects: | |
| Online Access: | https://arxiv.org/abs/2508.13726 |
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| _version_ | 1866912544119062528 |
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| author | Liu, Yiwei |
| author_facet | Liu, Yiwei |
| contents | This paper addresses the prescribed performance control (PPC) challenge for high-order nonlinear systems affected by mismatched disturbances. The research aims to prevent singularity issues arising from error boundary violations during abrupt changes in reference trajectories. We introduce a novel transformation function with infinite-order differentiability at connection points, advancing beyond mere continuous differentiability. Utilizing this transformation function, we develop a comprehensive transformation strategy that ensures: (1) errors remain within prescribed boundaries when reference trajectories are smooth, and (2) errors return to prescribed boundaries within a specified timeframe following abrupt changes in reference trajectories. Additionally, the complexity explosion issue inherent in backstepping design is effectively resolved. Simulation results corroborate the validity of the proposed theoretical advancements. |
| format | Preprint |
| id |
arxiv_https___arxiv_org_abs_2508_13726 |
| institution | arXiv |
| publishDate | 2025 |
| record_format | arxiv |
| spellingShingle | Singularity-free prescribed performance guaranteed control for perturbed system Liu, Yiwei Systems and Control This paper addresses the prescribed performance control (PPC) challenge for high-order nonlinear systems affected by mismatched disturbances. The research aims to prevent singularity issues arising from error boundary violations during abrupt changes in reference trajectories. We introduce a novel transformation function with infinite-order differentiability at connection points, advancing beyond mere continuous differentiability. Utilizing this transformation function, we develop a comprehensive transformation strategy that ensures: (1) errors remain within prescribed boundaries when reference trajectories are smooth, and (2) errors return to prescribed boundaries within a specified timeframe following abrupt changes in reference trajectories. Additionally, the complexity explosion issue inherent in backstepping design is effectively resolved. Simulation results corroborate the validity of the proposed theoretical advancements. |
| title | Singularity-free prescribed performance guaranteed control for perturbed system |
| topic | Systems and Control |
| url | https://arxiv.org/abs/2508.13726 |