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FTESO‐Based Finite Time Control for Underactuated System Within a Bounded Input
Author(s) -
Wang Hongbin,
Zhou Zhen,
Hao Ce,
Hu Zhongquan,
Zheng Wei
Publication year - 2018
Publication title -
asian journal of control
Language(s) - English
Resource type - Journals
SCImago Journal Rank - 0.769
H-Index - 53
eISSN - 1934-6093
pISSN - 1561-8625
DOI - 10.1002/asjc.1624
Subject(s) - underactuation , control theory (sociology) , observer (physics) , inverted pendulum , controller (irrigation) , state observer , convergence (economics) , bounded function , coordinate system , lyapunov function , sliding mode control , computer science , mathematics , control (management) , nonlinear system , physics , mathematical analysis , quantum mechanics , artificial intelligence , agronomy , economics , biology , economic growth
Finite time control problem is investigated for a class of underactuated systems with uncertainties and external disturbances. For the sake of expanding control region furthest within a bound input, finite time extended state observer (FTESO) and a novel adaptive terminal sliding mode (ATSM) controller are applied to improve the stability performance of system. Compared to the general extended state observer (ESO), FTESO makes use of fractional powers to reduce the estimation errors to zero in finite time. The coordinate transformation is made for more degrees of design freedom. Rigorous analysis of finite time convergence results has been performed through Lyapunov theory and sufficient conditions are provided for the observer/controller‐design. Finally, simulation results on the Rotating Inverted Pendulum are given to demonstrate the effectiveness of the proposed controller and observer.