一类具有零动态不确定非线性系统的停息时间可调的有限时间镇定

The finite-time stabilization for a class of zero-dynamics uncertain nonlinear systems with adjustable-settling-time

研究了一类带有零动态不确定非线性系统有限时间镇定问题,给出了具有更强实用性的停息时间可调的有限时间稳定控制设计方法.基于有限时间稳定的Lyapunov理论和反推技术,给出了停息时间可调有限时间稳定控制器的设计步骤.所设计的状态反馈控制器使得闭环系统全局有限时间稳定,且停息时间可调整,特别是当系统初始值已知时,停息时间可以任意调节.仿真例子验证了本文的主要结论。

The finite-time stabilization is investigated for a class of zero-dynamics uncertain nonlinear systems, for which a practical adjustable settling-time controller is designed by using the Lyapunov theory of finite-time stability and the backstepping methodology. With the designed state-feedback controller, the closed-loop system is globally stable in a finite time with an adjustable settling-time. Especially, when the initial conditions are known, the settling-time can be arbitrarily adjusted. Simulation results are also given to illustrate correctness of the main results.