Continuous-Time/Event-Triggered Decentralized Output Feedback Prescribed-Time Control Applied to a 2-DOF Helicopter

For interconnected nonlinear systems, the global continuous-time/event-triggered decentralized output feedback prescribed-time (PT) stabilization problem is discussed in this paper. A strategy employing dual time-varying gains with distinct properties is introduced to facilitate the design of the observer and controller. Using these gains within a nonrecursive design approach, a continuous-time decentralized output feedback PT controller is developed to achieve PT stabilization. Further, an event-triggered decentralized output feedback PT controller is constructed to reduce communication resources while fulfilling the control objective. A numerical example and a hardware-in-the- loop simulation of a 2-degree-of-freedom (DOF) helicopter system are employed to illustrate the availability of the decentralized output feedback PT controller.