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论文arXiv 2610.1196420 天前
从渐近控制到设计者指定时间控制：稳定性概念、设计机制与控制器架构综述
原文链接：From Asymptotic to Designer-Assigned-Time Control: A Review of Stability Notions, Design Mechanisms, and Controller Architectures（arXiv 2610.11964 · 发布日期：2026-10-08）
From Asymptotic to Designer-Assigned-Time Control: A Review of Stability Notions, Design Mechanisms, and Controller Architectures
本文综述有限、固定、预定义和预设时间控制，区分时间性质、Lyapunov机制与控制器架构，并通过文献审计和标量基准比较验证。
核心要点
- 问题动机是许多控制任务需按时到达目标，但不同时间收敛标签在文献中常被宽泛混用。
- 方法上将承诺的时间性质、Lyapunov分析产生该性质的特征、以及闭环控制器架构分开讨论。
- 逐篇审计记录各研究的声称、实际认证变量和验证方式，指出估计与逼近误差常使精确保证退化为实用保证。
- 标量基准展示保守界、初值依赖、数值容差、饱和与采样会影响甚至移除截止时间，并总结若干开放问题。
验证范围与局限：验证范围包括逐篇文献审计、一个标量基准，且实验证据主要来自快速机电系统。
英文摘要 (Abstract)
Many control tasks require a target to be reached not only eventually but on time. Finite-, fixed-, predefined-, and prescribed-time control address this need, yet the labels are used loosely: a settling time that grows with the initial condition, a bound that holds for all initial conditions, a deadline chosen by the designer, and a limit attained only at the terminal instant often share one name. This review aims to make such claims comparable. It separates three questions that are often conflated: what temporal property is promised, which feature of the Lyapunov analysis produces it, and which controller architecture carries it into the closed loop. A recurring question is whether a guarantee proven for an idealized loop survives once observers, adaptation, disturbances, actuator limits, and digital implementation are included. The examined studies are therefore audited one by one, recording what each claims, which variable is actually certified, and how the result is validated. The audit shows that estimation and approximation errors often reduce an exact guarantee to a practical one, and that experimental evidence comes mostly from fast electromechanical systems. A scalar benchmark with two complementary tunings shows how much of the apparent difference between methods stems from conservative bounds, initial-condition dependence, and numerical tolerance, and how saturation and sampling can delay or remove a deadline. The review closes with open problems, among them deciding which deadlines a given plant can meet, combining certificates across interconnected subsystems, and preserving a guarantee through implementation.
作者：Özhan Bingöl
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