Finite-time integral control for a class of nonlinear planar systems with non-vanishing uncertainties
Finite-time integral control for a class of nonlinear planar systems with non-vanishing uncertainties
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DOI：
10.1016/j.automatica.2021.110016
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发表时间：
2021-11
期刊：
影响因子：
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通讯作者：
Shanmao Gu;C. Qian;Ni Zhang
中科院分区：
文献类型：
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作者：
Shanmao Gu;C. Qian;Ni Zhang
研究了一类平面非线性系统受各种非零不确定性扰动的全局调节问题，这些不确定性包括常步长扰动、未知大小的外生时变扰动以及系统参数未知的建模不确定性。构造了一个由非线性积分动态和半线性控制律组成的积分控制器，使不确定系统的状态在有限时间内回到原点。这是通过三个主要机制实现的：（i）为了有限时间收敛的目的，首先构造一个低阶积分动态：（ii）通过改进增加幂积分器的技术，提出了一个包含线性校正项的半线性控制律来处理各种形式的不确定性;建立了一个新的不等式，为选择合适的控制增益以保证有限时间稳定性提供了一个有效的估计工具.
This paper considers the problem of globally regulating a class of planar nonlinear systems perturbed by various non-vanishing uncertainties including constant step disturbances, exogenous time-varying disturbances with unknown magnitudes, and modeling uncertainties with unknown system parameters. A new integral controller consisting of a nonlinear integral dynamic and a semi-linear control law is constructed to drive the states of the uncertain systems to the origin in afinite time. This is achieved by three major mechanisms: (i) for the purpose of finite-time convergence, a lower-order integral dynamic is first constructed; (ii) by revamping the technique of adding a power integrator, a semi-linear control law containing a linear corrective term is proposed to handle the various forms of uncertainties; and (iii) a new inequality is established to provide an effective estimating tool for the selection of a suitable control gain to guarantee finite-time stability.