基于输出反馈和滑模控制的一类二阶非线性系统 有限时间镇定方法

本文研究了一类具有不确定非线性动力学和未知外部扰动的二阶非线性系统的全局有限时间输出镇定问 题. 首先, 提出了一种全局状态反馈有限时间控制器, 实现了二阶非线性系统的有限时间镇定. 为了解决只有系统输 出可用这种更有挑战性的情况, 采用了一种新颖的设计思想, 即非分离原理. 构造了一个有限时间收敛的状态观测 器来估计未知状态. 在此观测器的基础上, 提出了一种基于输出的有限时间复合控制器. 基于李雅普诺夫方法, 证明 了整个闭环系统的全局有限时间稳定性. 仿真结果表明了理论的有效性.

Finite-time stabilization method for a class of second-order nonlinear systems based on output feedback and sliding mode control

In this paper, the global finite-time output stabilization problem for a class of second-order nonlinear systems with uncertain nonlinear dynamics and unknown external disturbances is studied. First, a global state-feedback finite-time controller is proposed. In order to solve the more challenging situation where only the output of the system is available, a novel design idea, the non-separation principle, is adopted. A finite-time-convergent state observer is constructed to estimate the unknown states. Based on this observer, a finite-time compound controller based on output is proposed, and the global finite-time stability of the whole closed-loop system is proved by the Lyapunov method. Simulation results show the validity of the theory.