Regular Papers

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

Fast finite-time H∞ control for a class of p-normal form nonlinear systems with output constraint and its application

Liyao Hu and Xiaohua Li*

University of Science and Technology Liaoning

Abstract

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.

Article

Regular Papers

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.

Fast finite-time H∞ control for a class of p-normal form nonlinear systems with output constraint and its application

Liyao Hu and Xiaohua Li*

University of Science and Technology Liaoning

Abstract

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.

IJCAS
May 2024

Vol. 22, No. 5, pp. 1461~1759

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