文献类型：期刊文献

英文题名：Robust H∞ finite-time stability control of a class of nonlinear systems

作者：Liu, Haitao[1]; Tian, Xuehong[1]; Wang, Gui[1]; Zhang, Tie[2]

机构：[1] School of Engineering, Guangdong Ocean University, Zhanjiang, 524088, China; [2] School of Mechanical and Automotive Engineering, South China University of Technology, Guangzhou, 510640, China

年份：2016

卷号：40

期号：7-8

起止页码：5111

外文期刊名：Applied Mathematical Modelling

收录：EI(收录号：20160301818292)、Scopus(收录号：2-s2.0-84954271281)

语种：英文

外文关键词：Backstepping - Nonlinear equations - Robotics - Control system stability - Degrees of freedom (mechanics) - Flexible manipulators - Closed loop control systems - Discrete time control systems - Riccati equations

外文摘要：In this paper, a robust H∞ 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∞ 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∞ 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 L2-gain less than or equal to γ. 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. ? 2016 Elsevier Inc..