Journal
IEEE TRANSACTIONS ON SYSTEMS MAN CYBERNETICS-SYSTEMS
Volume 50, Issue 2, Pages 480-489Publisher
IEEE-INST ELECTRICAL ELECTRONICS ENGINEERS INC
DOI: 10.1109/TSMC.2017.2748227
Keywords
Nonlinear systems; Stability analysis; Asymptotic stability; Robots; Closed loop systems; Disturbance observer; mismatching disturbances; nonlinear systems; output regulation; practically finite-time (PFT)
Funding
- NSFC [61673215, 61473151, 61374087, 61573172, 61703132]
- Natural Science Foundation of Jiangsu Province [BK20140770]
- Fundamental Research Funds for the Central Universities [30916015105]
- 333 Project [BRA2017380]
- Program for Changjiang Scholars and Innovative Research Team in University [IRT13072]
- PAPD
- Key Laboratory of Jiangsu Province
- Natural Science Fund for Distinguished Young Scholars of Jiangsu Province [BK20150034]
- Program for New Century Excellent Talents in University [NCET-13-0859]
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This paper is concerned with the practically finite-time (PFT) control problem for a class of more general nonlinear systems subject to mismatching time-varying disturbances. Without any extra assumptions on system nonlinearities, a composite controller is developed by introducing a disturbance observer and finite-time control technique. Based on the designed controller and Lyapunov stability theory, the PFT stability of the closed-loop system is strictly verified and proven to be a better convergence performance. Furthermore, as a byproduct of the proposed design method, the disturbance observer-based PFT control for high-order nonlinear systems is also shown to be possible. To the best of the authors' knowledge, it is the first PFT control result for high-order nonlinear systems with external disturbances. Finally, an application example of a single-link robot system with disturbances and a numerical example are presented to demonstrate the effectiveness of the proposed scheme, respectively.
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