局所半凹制御リヤプノフ関数を用いた固定時間整定制御

抄録

Fixed-time control is a control method that guarantees convergence rate for any initial states within a fixed constant time. To design a fixed-time control law based on a control Lyapunov function (CLF), we need to design a homogeneous CLF in bi-limit: homogeneous at the origin and infinity. In this paper, we propose a fixed-time control method using homogeneous locally semiconcave CLF in bi-limit for nonlinear control system. The effectiveness of the proposed method is confirmed by computer simulation.