International Journal of Control, Automation and Systems 2020; 18(4): 930-943
Published online November 28, 2019
https://doi.org/10.1007/s12555-019-0040-6
© The International Journal of Control, Automation, and Systems
In this paper, the fast finite-time H∞ stabilization problem with output constraint is studied for a class of p-normal form nonlinear systems with external disturbances based on Barrier Lyapunov function, the adding a power integrator technique, the finite-time stability theory and H∞ control theory. An output-constrained fast finite-time H∞ controller is designed such that the considered closed-loop system is fast finite-time stable, and the output of the system is constrained by a given bound. At the same time, the influence of external disturbances can be attenuated by H∞ performance. Finally, three numerical examples including a practical robot manipulator system are given to demonstrate the effectiveness and the superiority of the proposed method.
Keywords Barrier Lyapunov function, finite-time control, H∞ control, output constraint, p-normal form nonlinear Systems.
International Journal of Control, Automation and Systems 2020; 18(4): 930-943
Published online April 1, 2020 https://doi.org/10.1007/s12555-019-0040-6
Copyright © The International Journal of Control, Automation, and Systems.
Liyao Hu and Xiaohua Li*
University of Science and Technology Liaoning
In this paper, the fast finite-time H∞ stabilization problem with output constraint is studied for a class of p-normal form nonlinear systems with external disturbances based on Barrier Lyapunov function, the adding a power integrator technique, the finite-time stability theory and H∞ control theory. An output-constrained fast finite-time H∞ controller is designed such that the considered closed-loop system is fast finite-time stable, and the output of the system is constrained by a given bound. At the same time, the influence of external disturbances can be attenuated by H∞ performance. Finally, three numerical examples including a practical robot manipulator system are given to demonstrate the effectiveness and the superiority of the proposed method.
Keywords: Barrier Lyapunov function, finite-time control, H&infin, control, output constraint, p-normal form nonlinear Systems.
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