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]Guangdong Ocean Univ, Sch Engn, Zhanjiang 524088, Peoples R China;[2]S China Univ Technol, Sch Mech & Automot Engn, Guangzhou 510640, Guangdong, Peoples R 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：SCI-EXPANDED(收录号：WOS:000374367500053)、、WOS

基金：The authors would like to express their sincere thanks to the support of the Project of Department of Education of Guangdong Province (2013KJCX0100), the Innovation Strong School Project in Guangdong Province (GDOU2015050217), the Science and Technology Planning Project of Zhanjiang City (2012C3106006), and the Natural Science Projects of Guangdong Ocean University (C14516). Also, the authors are most grateful to the anonymous reviewers for their constructive comments which have helped to improve the quality of this paper.

语种：英文

外文关键词：Robust H-infinity control; Finite-time stability; Disturbance rejection; Tracking control; Robotic manipulator

外文摘要：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.