基于输出反馈和滑模控制的一类二阶非线性系统有限时间镇定方法  

Finite-time stabilization method for a class of second-order nonlinear systems based on output feedback and sliding mode control

作　　者：孙训红 陈维乐 都海波[1] 李世华[2] SUN Xun-hong;CHEN Wei-le;DU Hai-bo;LI Shi-hua(School of Electrical Engineering and Automation,Hefei University of Technology,Hefei Anhui 230000,China;School of Automation,Southeast University,Nanjing Jiangsu 210096,China)

机构地区：[1]合肥工业大学电气与自动化工程学院,安徽合肥230000 [2]东南大学自动化学院,江苏南京210096

出　　处：《控制理论与应用》2021年第11期1727-1734,共8页Control Theory & Applications

基　　金：国家自然科学基金项目(62073113,62003122,62025302,61673153);安徽省自然科学基金项目(2008085UD03,1808085MF180);中央高校基本科研业务费项目(PA2020GDKC0016)资助。

摘　　要：本文研究了一类具有不确定非线性动力学和未知外部扰动的二阶非线性系统的全局有限时间输出镇定问题.首先,提出了一种全局状态反馈有限时间控制器,实现了二阶非线性系统的有限时间镇定.为了解决只有系统输出可用这种更有挑战性的情况,采用了一种新颖的设计思想,即非分离原理.构造了一个有限时间收敛的状态观测器来估计未知状态.在此观测器的基础上,提出了一种基于输出的有限时间复合控制器.基于李雅普诺夫方法,证明了整个闭环系统的全局有限时间稳定性.仿真结果表明了理论的有效性.In this paper,the global finite-time output stabilization problem for a class of second-order nonlinear systems with uncertain nonlinear dynamics and unknown external disturbances is studied.First,a global state-feedback finite-time controller is proposed.In order to solve the more challenging situation where only the output of the system is available,a novel design idea,the non-separation principle,is adopted.A finite-time-convergent state observer is constructed to estimate the unknown states.Based on this observer,a finite-time compound controller based on output is proposed,and the global finite-time stability of the whole closed-loop system is proved by the Lyapunov method.Simulation results show the validity of the theory.

关 键 词：有限时间控制 输出反馈 非分离原理 不确定非线性系统 未知外部扰动 非连续控制 

分 类 号：TP13[自动化与计算机技术—控制理论与控制工程]