Design of Arbitrary Time Convergence Controller for n -th Order System

Abstract

A class of arbitrary time convergence controllers based on a special time-varying scaling function provide designers with a good choice to realize prescribed time stable systems. However, these controllers have the problem of conservative control parameter range and lack a uniform formula for systems of different order. Herein, the arbitrary time convergence controller is improved, the unified formula for n -th order system is given, and a more accurate control parameter range is obtained. By constructing an ingenious auxiliary function and a novel Lyapunov function, the arbitrary time convergence of the n -th order controller is proved, and the reasonable parameter selection range is obtained using the integrator backstepping and the mathematical induction method. The effectiveness and advantages of the proposed arbitrary time convergence controllers under saturated input constraints are illustrated through numerical simulations by comparative studies in unmanned aerial vehicle (UAV) formation control.