This repository includes different versions of the prescribed-time controller as Simulink blocks and MATLAB script codes for engineering applications.

Related tags

Deep Learningrobotic-systemsnonlinear-controlnonlinear-systemsattitude-dynamicsrobot-manipulatorprescribed-time-controlfinite-time-controlfixed-time-controlpredefined-time-controlnonasymptotic-controlatt
Overview

Prescribed-time Control

Prescribed-time control (PTC) blocks in Simulink environment, MATLAB R2020b. For more theoretical details, refer to the papers mentioned in the References.

File(s)

This repository includes the following MATLAB-Simulink files:

1- A PTC for Euler-Lagrange robotic systems with $n$ degrees-of-freedom (version-2020-1): PTC_EL_PDgJLA_FracPol_20201.slx.

2- A PTC for normal form chain of integrators with triangular stability (version-2021-1): PTC_CI_L_Exp_20211.slx

References

1- Amir Shakouri, Nima Assadian, "Prescribed-time control for perturbed Euler-Lagrange systems with obstacle avoidance", IEEE Transactions on Automatic Control, 2021, doi: 10.1109/tac.2021.3106882.

2- Amir Shakouri, Nima Assadian, "Prescribed-time control with linear decay for nonlinear systems", IEEE Control Systems Letters, 2021, doi: 10.1109/lcsys.2021.3073346.

3- Amir Shakouri, Nima Assadian, "A framework for prescribed-time control design via time-scale transformation", IEEE Control Systems Letters, 2021, doi: 10.1109/lcsys.2021.3136757.

License(s)

MIT

Owner
Amir Shakouri
RA&TA at Sharif University of Technology.
Amir Shakouri
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