控制理论(社会学)
非线性系统
奇点
李雅普诺夫函数
滑模控制
终端滑动模式
控制器(灌溉)
数学
可逆矩阵
计算机科学
控制(管理)
人工智能
量子力学
生物
物理
数学分析
纯数学
农学
作者
Haihui Long,Tianli Guo,Jiankang Zhao
出处
期刊:IEEE Transactions on Industrial Informatics
[Institute of Electrical and Electronics Engineers]
日期:2021-09-21
卷期号:18 (9): 5905-5914
被引量:14
标识
DOI:10.1109/tii.2021.3114278
摘要
In this article,we study a novel fixed-time tracking controller for a class of degree-of-freedom nonlinear systems with mismatched and matched perturbations. A modified fixed-time stable system (FTSS) is first proposed, which has an advantage in convergence rate over the existing results. Moreover, an adaptive version of fixed-time disturbance observer (DO) is established to eliminate the requirement for prior knowledge of the perturbation bounds. Based on the aforementioned FTSS and DO, a new fixed-time terminal sliding-mode surface with singularity circumvention is constructed. Then, a novel composite tracking controller is designed, which can guarantee the tracking errors to converge to zero within the fixed time. The stabilities of both the DO and the resulting closed-loop systems are rigorously proved by the Lyapunov theorem. Simulation results of two representative examples demonstrate the efficiency of the proposed approach.
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