Nonsmooth finite-time control of uncertain second-order nonlinear systems

作     者：Shuanghe YU Zi MA Xiaohui YANG 

作者机构：Automation Research Center Dalian Maritime UniversityDalian Liaoning 116026 China 

出 版 物：《控制理论与应用（英文版）》 (控制理论与应用)

年 卷 期：2007年第5卷第2期

页      面：171-176页

学科分类：0711[理学-系统科学] 07[理学] 08[工学] 070105[理学-运筹学与控制论] 081101[工学-控制理论与控制工程] 071101[理学-系统理论] 0811[工学-控制科学与工程] 0701[理学-数学] 

基　　金：the National Natural Science Foundation of China (No.60674061) 

主　　题：Nonsmooth Finite-time stability Terminal sliding mode 

摘      要：Nonsmooth finite-time stabilizing control laws have been developed for the double integrator system. The objective of this paper is to further explore the finite-time tracking control problem of a general form of uncertain secondorder affine nonlinear system with the new forms of terminal sliding mode （TSM）. Discontinuous and continuous finite-time controllers are also developed respectively without the singularity problem. Complete robustness can be acquired with the former, and enhanced robustness compared with the conventional boundary layer method can be expressed as explicit bounded function with the latter. Simulation results on the stabilizing and tracking problems are presented to demonstrate the effectiveness of the control algorithms.