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

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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.

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Authors and Affiliations

  1. School of Electrons and Information Engineering, University of Science and Technology Liaoning, Anshan, 114051, China

    Liyao Hu & Xiaohua Li

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  1. Liyao Hu
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  2. Xiaohua Li
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Correspondence to Xiaohua Li.

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Publisher’s Note Springer Nature remains neutral with regard to jurisdictional claims in published maps and institutional affiliations.

Recommended by Associate Editor Choon Ki Ahn under the direction of Editor Yoshito Ohta. This work is supported by Natural Science Fundation of Liaoning province (No.20180550319), Graduate Education Reform and Science Technology Innovation Project of University of Science and Technology Liaoning (No.LKDYC201812).

Li-Yao Hu received his B.Sc. degree in Department of Automation at School of Electronics and Information Engineering from University of Science and Technology Liaoning, Anshan, Liaoning, China, in 2013. His current research interests include finite-time control, adaptive control, robust control and prescribed performance control.

Xiao-Hua Li received her Ph.D. degree in control theory and control engineering from Northeastern University, Shenyang, China, in 2006. From 1987 to present, she has been with University of Science and Technology Liaoning, Anshan, Liaoning. She is currently a professor with the Department of Automation at School of Electronics and Information Engineering. As a visiting scholar, she was in Control Theory and Guidance Technology Center at Harbin Institute of Technology from 2012 to 2013, and in the Department of Electrical Engineering at Lakehead University, Thunder Bay, ON, Canada, from 2015 to 2016. Her research interests include control theory and application of nonlinear systems, robust control of complex large-scale systems, and modeling and optimization control of complex industrial process.

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Hu, L., Li, X. Fast Finite-time H∞ Control for a Class of p-normal Form Nonlinear Systems with Output Constraint and Its Application. Int. J. Control Autom. Syst. 18, 930–943 (2020). https://doi.org/10.1007/s12555-019-0040-6

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  • DOI: https://doi.org/10.1007/s12555-019-0040-6

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