Robust Finite-Time Stability Control of a Class of High-Order Uncertain Nonlinear Systems

被引：20
作者：
Liu, Haitao [1 ]
Wang, Xiaozhen [2 ]
Zhang, Tie [3 ]
机构：
[1] Guangdong Ocean Univ, Engn Coll, Zhanjiang 524088, Peoples R China
[2] Guangdong Commun Polytech, Guangzhou 510650, Guangdong, Peoples R China
[3] S China Univ Technol, Sch Mech & Automot Engn, Guangzhou 510640, Peoples R China
来源：
ASIAN JOURNAL OF CONTROL | 2015年 / 17卷 / 03期
关键词：
Nonlinear system; uncertainty; finite-time stability; dynamic surface control; DYNAMIC SURFACE CONTROL; TERMINAL SLIDING MODE; ROBOTIC MANIPULATORS; STABILIZATION;
D O I：
10.1002/asjc.916
中图分类号：
TP [自动化技术、计算机技术];
学科分类号：
0812 ;
摘要：
In this study, a novel robust finite-time stability controller is proposed for a class of high-order uncertain nonlinear systems. It uses the dynamic surface control (DSC) approach to simplify the traditional backstepping design for high-order nonlinear systems, thus avoiding the explosion of terms. The finite-time stability of the closed-loop system is guaranteed to have high performance, such as fast transient and strong robustness to dynamic uncertainties, and the tracking error is made arbitrarily small. Simulation results of two examples indicate that the proposed controller is effective.
引用
收藏
页码：1081 / 1087
页数：7
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