Journal
INTERNATIONAL JOURNAL OF ROBUST AND NONLINEAR CONTROL
Volume 33, Issue 3, Pages 1513-1530Publisher
WILEY
DOI: 10.1002/rnc.6441
Keywords
adaptive control; finite-time control; fixed-time control; nonlinear systems; parametric uncertainty
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This article investigates the adaptive finite/fixed-time stabilizing control problem for a class of uncertain nonlinear systems. The proposed state feedback stabilization process consists of two phases, and a recursive design method is used to develop the adaptive finite/fixed-time stabilizing control scheme. The effectiveness of the presented algorithm is demonstrated through the angular set-point stabilizing control of a pendulum system.
This article investigates the adaptive finite/fixed-time stabilizing control problem for a class of uncertain nonlinear systems. Remarkably, the studied system allows the nonlinear parametric uncertainties. Compared with the existing results on adaptive finite/fixed-time stabilizing control, the proposed state feedback stabilizing process consists of the first phase of steering the system states into a region of the fixed-time stability in finite-time and the second phase of further driving the states to the origin in fixed-time, while the other signals in closed-loop system are kept bounded. The adaptive finite/fixed-time stabilizing control scheme is developed using a recursive design method, which is inspired by the adding-a-power-integrator technique. The proof is based on the nonsmooth finite/fixed-time Lyapunov stability theorem developed recently for nonlinear control systems. The angular set-point stabilizing control of a pendulum system is used to demonstrate the effectiveness of the presented algorithm.
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