Fixed-Time Output Stabilization and Fixed-Time Estimation of a Chain of Integrators

Francisco Lopez-Ramirez (1) , Denis Efimov (1) , Andrey Polyakov (1) , Wilfrid Perruquetti (2)

1 NON-A-POST - Non-Asymptotic estimation for online systems
2 Centrale Lille

A solution to the problem of global fixed-time output stabilization and estimation of a chain of integrators is proposed. A nonlinear scheme comprising a state feedback controller and a dynamic observer are designed in order to guarantee both fixed-time estimation and fixed-time control. Robustness with respect to exogenous disturbances and measurement noises is established and a parameter optimization algorithm is provided. The performance of the obtained control and estimation algorithms are illustrated by numeric experiments.

Domaines: Automatique / Robotique

Francisco Lopez-Ramirez, Denis Efimov, Andrey Polyakov, Wilfrid Perruquetti. Fixed-Time Output Stabilization and Fixed-Time Estimation of a Chain of Integrators. International Journal of Robust and Nonlinear Control, 2018, 28 (16), pp.4647-4665. ⟨10.1002/rnc.4275⟩. ⟨hal-01817585⟩