Gao Fangzheng, Yuan Ye, Wu Yuqiang
School of Mathematics and Statistics, Anyang Normal University, Anyang 455000, China; School of Automation, Southeast University, Nanjing 210096, China; Tandon School of Engineering, New York University, Brooklyn, NY11201, USA.
Chongqing Technology and Business Institute, Chongqing Radio & TV University, Chongqing 400052, China.
ISA Trans. 2016 Sep;64:193-201. doi: 10.1016/j.isatra.2016.06.001. Epub 2016 Jun 22.
This paper studies the problem of finite-time stabilization by state feedback for a class of uncertain nonholonomic systems in feedforward-like form subject to inputs saturation. Under the weaker homogeneous condition on systems growth, a saturated finite-time control scheme is developed by exploiting the adding a power integrator method, the homogeneous domination approach and the nested saturation technique. Together with a novel switching control strategy, the designed saturated controller guarantees that the states of closed-loop system are regulated to zero in a finite time without violation of the constraint. As an application of the proposed theoretical results, the problem of saturated finite-time control for vertical wheel on rotating table is solved. Simulation results are given to demonstrate the effectiveness of the proposed method.
本文研究了一类具有前馈形式且受输入饱和约束的不确定非完整系统通过状态反馈实现有限时间镇定的问题。在系统增长的较弱齐次条件下，通过利用增加幂积分器方法、齐次控制方法和嵌套饱和技术，设计了一种饱和有限时间控制方案。结合一种新颖的切换控制策略，所设计的饱和控制器保证闭环系统的状态在有限时间内被调节到零，且不违反约束条件。作为所提理论结果的一个应用，解决了旋转台上垂直轮的饱和有限时间控制问题。给出了仿真结果以验证所提方法的有效性。
