期刊
INTERNATIONAL JOURNAL OF ROBUST AND NONLINEAR CONTROL
卷 26, 期 2, 页码 218-234出版社
WILEY
DOI: 10.1002/rnc.3305
关键词
output feedback; finite-time control; nonlinear observer; nonlinear system; robotic manipulators
资金
- Department of Education of Guangdong Province [2013KJCX0100]
- Science and Technology Planning Project of Zhanjiang City [2012A0103, 2012C3106006]
- Scientific Research Project of Guangdong Ocean University [1212312]
In this paper, a solution to the continuous output-feedback finite-time control problem is proposed for a class of second-order MIMO nonlinear systems with disturbances. First, a continuous finite-time controller is designed to stabilize system states at equilibrium points in finite time, which is proven correct by a constructive Lyapunov function. Next, because only the measured output is available for feedback, a continuous nonlinear observer is presented to reconstruct the total states in finite time and estimate the unknown disturbances. Then, a continuous output-feedback finite-time controller is proposed to track the desired trajectory accurately or alternatively converge to an arbitrarily small region in finite time. Finally, proposed methods are applied to robotic manipulators, and simulations are given to illustrate the applicability of the proposed control approach. Copyright (C) 2015 John Wiley & Sons, Ltd.
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