Predefined-time stabilization of stochastic nonlinear systems with application to UAVs.

The paper presents a new Lyapunov-type predefined-time stabilization control algorithm for stochastic high-order nonlinear systems with asymmetric output constraints. In contrast to stochastic finite-time and fixed-time stabilization, the average value of the settling-time function for stochastic predefined-time stabilization control is independent of both the initial value and the control factors. To mitigate the significant uncertainties arising from the asymmetric output constraint, a tan-type barrier Lyapunov function is formulated. Furthermore, by harnessing the previously mentioned barrier Lyapunov function and integrating the power integrator technique, a controller design strategy is formulated based on the backstepping method. The rigorous analysis in this study proves that the designed controller ensures both the attainment of predefined-time convergence of the system states to the origin in probability and the satisfaction of the output constraint. Finally, an example of a roll angle subsystem for quadrotor UAVs and a numerical illustration are presented to corroborate the theoretical analysis. • A novel Lyapunov-type stochastic predefined-time stable control algorithm is presented in Theorem 1. • Controller design based on the backstepping method is formulated through the power integrator technique. • The tan-type barrier Lyapunov function extends the order range and absorbs the inherent properties of the nonlinear terms. [ABSTRACT FROM AUTHOR]