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Fast Finite-time H Control for a Class of p-normal Form Nonlinear Systems with Output Constraint and Its Application

  • Liyao Hu
  • Xiaohua LiEmail author
Article
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Abstract

In this paper, the fast finite-time H, stabilization problem with output constraint is studied for a class of p-normal form nonlinear systems with external disturbances based on Barrier Lyapunov function, the adding a power integrator technique, the finite-time stability theory and H control theory. An output-constrained fast finite-time H controller is designed such that the considered closed-loop system is fast finite-time stable, and the output of the system is constrained by a given bound. At the same time, the influence of external disturbances can be attenuated by H performance. Finally, three numerical examples including a practical robot manipulator system are given to demonstrate the effectiveness and the superiority of the proposed method.

Keywords

Barrier Lyapunov function finite-time control H control output constraint p-normal form nonlinear systems 

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References

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Copyright information

© ICROS, KIEE and Springer 2019

Authors and Affiliations

  1. 1.School of Electrons and Information EngineeringUniversity of Science and Technology LiaoningAnshanChina

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