Finite-Time Stabilization for a Class of Non-Affine Nonlinear Systems With Input Saturation and Time-Varying Output Constraints | Zendy

Qiang Zhang | Zendy; Cui Wang | Zendy; Dezhi Xu | Zendy

Open Access

Finite-Time Stabilization for a Class of Non-Affine Nonlinear Systems With Input Saturation and Time-Varying Output Constraints

Author(s) -

Qiang Zhang,

Cui Wang,

Dezhi Xu

Publication year - 2018

Publication title -

ieee access

Language(s) - English

Resource type - Journals

SCImago Journal Rank - 0.587

H-Index - 127

ISSN - 2169-3536

DOI - 10.1109/access.2018.2829835

Subject(s) - aerospace , bioengineering , communication, networking and broadcast technologies , components, circuits, devices and systems , computing and processing , engineered materials, dielectrics and plasmas , engineering profession , fields, waves and electromagnetics , general topics for engineers , geoscience , nuclear engineering , photonics and electrooptics , power, energy and industry applications , robotics and control systems , signal processing and analysis , transportation

This paper investigates finite-time stabilization of a class of non-affine nonlinear systems with time-varying output constraints, input saturation, and unknown disturbance. Without loss of accuracy, an approximation method is employed to convert the non-affine nonlinear system to an affine-like expression. A novel adaptive terminal sliding mode disturbance observer is proposed to enhance system robustness by estimating unknown compound disturbances in finite time, including external disturbances and system uncertainties. A time-varying barrier Lyapunov function is applied to ensure that constraints are not violated. Backstepping-based controllers are designed to drive tracking errors to zero in finite time. Simulation results demonstrated the effectiveness of the proposed control technique.

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