School of Automation, Nanjing Institute of Technology, Nanjing 211167, China; School of Artificial Intelligence Technology, Nanjing Institute of Technology, Nanjing 211167, China; Institute of Automation, Qufu Normal University, Qufu 273165, China.
School of Automation, Nanjing Institute of Technology, Nanjing 211167, China.
ISA Trans. 2019 Oct;93:70-79. doi: 10.1016/j.isatra.2019.01.022. Epub 2019 Feb 11.
This paper is concerned with the problem of global finite-time stabilization by output feedback for a class of feedforward (upper-triangular) nonlinear systems in p-normal form. Remarkably, both the high order powers and the saturated input are involved in the system under consideration, that renders the existing output feedback control methods are inapplicable. Based on the finite-time stability theorem, and by skillfully using the homogeneous domination approach and the nested saturation technique, a reduced order observer-based saturated finite-time output feedback control scheme is successfully developed. With choosing appropriate design parameters, the proposed controller ensures that the states of the closed-loop system are regulated to zero in a finite time without violation of the input constraint. Finally, two simulation examples are provided to demonstrate the effectiveness of the proposed method.
本文研究了一类前馈（上三角）非线性系统在 p-范数形式下通过输出反馈进行全局有限时间稳定化的问题。值得注意的是，所考虑的系统中涉及到高阶幂次和饱和输入，这使得现有的输出反馈控制方法不适用。基于有限时间稳定性定理，并巧妙地利用齐次主导方法和嵌套饱和技术，成功开发了一种基于降阶观测器的饱和有限时间输出反馈控制方案。通过选择适当的设计参数，所提出的控制器确保在不违反输入约束的情况下，闭环系统的状态在有限时间内调节到零。最后，通过两个仿真示例验证了所提方法的有效性。
