In this paper,a novel global non-recursive stabilisation design framework is addressed for a class of inherent non-linear systems with the presence of system uncertainties and external nonvanishing disturbances.By vir...In this paper,a novel global non-recursive stabilisation design framework is addressed for a class of inherent non-linear systems with the presence of system uncertainties and external nonvanishing disturbances.By virtue of the facility that the weighted homogeneity brings into the system synthesis procedure,a non-recursive design method is proposed to yield a globally effectiveness robust controller with its expression following a quasi-linear manner.By proceeding with a rigorous non-recursive stability analysis framework,which covers both global asymptotical and finite-time convergence cases,the common recursively treated derivative items in backsteppingbased methods are totally avoided.Inspired by the homogeneous domination technique,a scaling gain performed as a bandwidth factor is introduced into the original system and hence the robustness of the controlled system can be adjusted to meet the practical performance requirements.A numerical example and its control performance simulations are given to illustrate the effectiveness and simplicity of the proposed controller design framework.展开更多
基金supported by National Natural Science Foundation of China[grant number 61503236 and 61573099].
文摘In this paper,a novel global non-recursive stabilisation design framework is addressed for a class of inherent non-linear systems with the presence of system uncertainties and external nonvanishing disturbances.By virtue of the facility that the weighted homogeneity brings into the system synthesis procedure,a non-recursive design method is proposed to yield a globally effectiveness robust controller with its expression following a quasi-linear manner.By proceeding with a rigorous non-recursive stability analysis framework,which covers both global asymptotical and finite-time convergence cases,the common recursively treated derivative items in backsteppingbased methods are totally avoided.Inspired by the homogeneous domination technique,a scaling gain performed as a bandwidth factor is introduced into the original system and hence the robustness of the controlled system can be adjusted to meet the practical performance requirements.A numerical example and its control performance simulations are given to illustrate the effectiveness and simplicity of the proposed controller design framework.
