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Finite-Time Stabilization for a Class of Non-Affine Nonlinear Systems With Input Saturation and Time-Varying Output Constraints
- Source :
- IEEE Access, Vol 6, Pp 23529-23539 (2018)
- Publication Year :
- 2018
- Publisher :
- IEEE, 2018.
-
Abstract
- 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.
Details
- Language :
- English
- ISSN :
- 21693536
- Volume :
- 6
- Database :
- Directory of Open Access Journals
- Journal :
- IEEE Access
- Publication Type :
- Academic Journal
- Accession number :
- edsdoj.7147b49016514b6885c9ad9bb24a5897
- Document Type :
- article
- Full Text :
- https://doi.org/10.1109/ACCESS.2018.2829835