Continuous Fixed-Time Controller Design for Mechatronic Systems With Incomplete Measurements

被引：57
|
作者：
Basin, Michael V. [1 ,2 ]
Rodriguez Ramirez, Pablo Cesar [1 ]
Guerra-Avellaneda, Fernando [1 ]
机构：
[1] Autonomous Univ Nuevo Leon, Dept Phys & Math Sci, San Nicolas De Los Garza 66450, Mexico
[2] ITMO Univ, St Petersburg 199034, Russia
来源：
IEEE-ASME TRANSACTIONS ON MECHATRONICS | 2018年 / 23卷 / 01期
关键词：
DC motors; mechatronics; nonlinear systems; variable structure systems; SLIDING MODE CONTROL; BRUSHLESS DC MOTORS; LYAPUNOV FUNCTIONS; ADAPTIVE-CONTROL; DIFFERENTIATION; PENDULUM; DRIVEN; ORDER;
D O I：
10.1109/TMECH.2017.2700459
中图分类号：
TP [自动化技术、计算机技术];
学科分类号：
0812 ;
摘要：
This paper presents a continuous fixed-time observer-based controller driving all states of an n-dimensional chain of integrators to the origin for a finite pre-established (fixed) time using a scalar input when only the highest relative degree state can be measured. The uniform upper bound for the controller convergence time is calculated. Performance of the developed controller is demonstrated in two case studies, stabilizing an industrial armature-controlled dc motor (stable system) and controlling a cart inverted pendulum (unstable system).
引用
收藏
页码：57 / 67
页数：11
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