Finite-time output feedback stabilisation for a class of feedforward nonlinear systems with input saturation |
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Authors: | Fangzheng Gao Yuqiang Wu |
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Affiliation: | 1. School of Mathematics and Statistics, Anyang Normal University, Anyang, China;2. School of Automation, Southeast University, Nanjing, China;3. Tandon School of Engineering, New York University, Brooklyn, NY, USA;4. Institute of Automation, Qufu Normal University, Qufu, China |
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Abstract: | This paper considers the problem of global finite-time stabilisation by output feedback for a class of feedforward (upper triangular) nonlinear systems with input saturation. Based on the finite-time stability theorem, and by skillfully using the homogeneous domination approach and the nested saturation technique, a saturated output feedback controller is successfully constructed, which renders the origin of the closed-loop system globally finite-time stable. In simulation studies, a numerical example is illustrated to show the effectiveness of the control scheme. Moreover, the design strategy is successfully applied to solve the saturated finite-time control problem for vertical wheel on rotating table. |
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Keywords: | Feedforward nonlinear systems input saturation homogeneous domination approach nested saturation output feedback finite-time stabilisation |
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