Robust H∞ finite-time stability control of a class of nonlinear systems

In this paper, a robust 1103 finite-time stability control approach is proposed for a class of nonlinear systems without solving the Hamilton-Jacobi equation and the Riccati equation. First, the concept of robust H-infinity finite-time stability is proposed and the corresponding theorem is presented. Then, for a class of common dynamic systems such as robotic manipulators, a robust H-infinity finite-time stability controller is designed based on the backstepping method, with which the closed-loop system is not only global finite-time stable but also has L-2-gain less than or equal to gamma. Finally, some simulations are performed on a robotic manipulator with two degrees of freedom. The results indicate that the proposed control approach is of high effectiveness. (C) 2015 Elsevier Inc. All rights reserved.