Miranda-Colorado Roger
SECIHTI-Centro de Investigación y de Estudios Avanzados del Instituto Politécnico Nacional, Cinvestav, Unidad Zacatenco, Departamento de Control Automático, Av. Instituto Politécnico Nacional No. 2508, Col. San Pedro Zacatenco, México City, 07360, Mexico.
ISA Trans. 2025 Jun;161:97-108. doi: 10.1016/j.isatra.2025.04.001. Epub 2025 Apr 11.
Second-order systems are essential to describe a variety of devices. Also, finite-time control is a vital methodology that allows counteracting the effect of disturbances, providing robustness to the closed-loop system. Based on these two essential topics, this manuscript proposes a new observer-based finite-time scheme that allows controlling second-order systems affected by matched disturbances. The proposed methodology enables the perturbed system to follow a given reference signal in a finite time. In the new proposal, the control signal is split into three parts. In the first part, an observer estimates and compensates for various endogenous or exogenous disturbances. Then, the system error dynamics are transformed into a decoupled system with bounded disturbances through the second control part. Finally, a finite-time controller is designed to accomplish finite-time convergence of the error signal. A formal mathematical development utilizing the Lyapunov theory demonstrates the effectiveness of the new control scheme. Also, the novel controller is compared against two existing observer-based finite-time controllers, and the remarkable performance of the latest proposal and its low power demands are demonstrated via numerical analysis.
二阶系统对于描述各种设备至关重要。此外，有限时间控制是一种重要的方法，它能够抵消干扰的影响，为闭环系统提供鲁棒性。基于这两个重要主题，本文提出了一种基于观测器的新有限时间方案，该方案能够控制受匹配干扰影响的二阶系统。所提出的方法使受扰系统能够在有限时间内跟踪给定的参考信号。在新方案中，控制信号被分为三个部分。在第一部分中，一个观测器估计并补偿各种内源性或外源性干扰。然后，通过第二控制部分将系统误差动态转化为具有有界干扰的解耦系统。最后，设计一个有限时间控制器来实现误差信号的有限时间收敛。利用李雅普诺夫理论进行的形式化数学推导证明了新控制方案的有效性。此外，将新型控制器与两种现有的基于观测器的有限时间控制器进行了比较，并通过数值分析证明了最新方案的卓越性能及其低功耗要求。
