Safety Predefined-Time Tracking Control of Second-Order Nonlinear Systems

This paper examines a category of second-order nonlinear systems' predefined-time tracking control issue restricted by the state and input from the control. The safety predefined-time control framework proposed by this work aims at tracking a desired trajectory in a predefined time while maintaining safe system outputs and control inputs. The safety predefined-time controller is specifically created by a safety filter utilizing the control barrier function approach and a predefined-time controller on the basis of the backstepping technique. The predefined-time controller establishes an explicit relation between the controller parameters and the convergence time constraint. Moreover, the safety filter enforces the state and control input constraints by constructing a quadratic programming problem. In an effort to demonstrate the feasibility of the safety predefined-time controller, a second-order practical system is simulated.