控制理论与应用2011，Vol.28Issue(7)：915-920,6.
一类不确定非线性系统的全局鲁棒有限时间镇定
Global robust finite time stabilization of a class of nonlinear uncertain systems
李鹏 1郑志强 1马建军1
作者信息
- 1. 国防科技大学机电工程与自动化学院,湖南长沙410073
- 折叠
摘要
Abstract
A continuous global robust finite time feedback stabilization control law is proposed for a class of uncertain nonlinear systems. Firstly, a state feedback control law is designed for the nominal system. By using Lyapunov direct method and LaSalle invariance principle, we prove that the resulting closed-loop nominal system is globally asymptotically stable with the negative homogeneity in degrees. Secondly, introducing an auxiliary variable, we design a compensated control law for compensating the uncertainties of the system by using the finite-time convergent second-order sliding mode Super-twisting algorithm. The range of the parameters in the compensation control law is determined by using the finite- time Lyapunov function. Finally, a continuous feedback control law is developed for the closed-loop system to converge to its equilibrium point in a finite period of time. Simulation results show the effectiveness of the proposed control law.关键词
非线性系统/有限时间控制/二阶滑模/反馈镇定Key words
nonlinear system/finite time control/second order sliding mode/feedback stabilization分类
信息技术与安全科学引用本文复制引用
李鹏,郑志强,马建军..一类不确定非线性系统的全局鲁棒有限时间镇定[J].控制理论与应用,2011,28(7):915-920,6.
