典型文献
Adaptive Preassigned Time Stabilisation of Uncertain Second-Order Sub-Fully Actuated Systems
文献摘要：
For a class of second-order sub-fully actuated systems(SOSFASs),this paper presents a preset-trajectory-based(PT-based)adaptive stabilising control method by integrating the function augmented sliding mode control(FASMC)technique and the flat-zone introduced Lyapunov function technique.The SOSFASs under study are subject to internal uncertainties and external disturbances.The proposed PT-based stabilising control method exhibits several attractive features:1)The system states can converge to a predefined region close to zero in a preassigned time and can be confined in a preassigned'safe'area,which can make the control coefficient matrix always full rank so as to preserve the realizability of the proposed controller;2)the utilization of flat-zone introduced Lyapunov function technique not only eliminates the chatting phenomenon,but also avoids the potential persistent increase problem of the adaptive law;and 3)the control gain increases as the adaptive law increases only when necessary,that is,when the current control gain is not sufficient to suppress uncertainties or disturbances,therefore,the conservativeness of the control design due to unnecessarily high control gain can be effectively reduced.The effectiveness of the proposed control method is verified via a numerical example.
文献关键词：
中图分类号：
作者姓名：
SHI Wenrui;HOU Mingzhe;DUAN Guang-Ren
作者机构：
Center for Control Theory and Guidance Technology,Harbin Institute of Technology,Harbin 150001,China
文献出处：
引用格式：
[1]SHI Wenrui;HOU Mingzhe;DUAN Guang-Ren-.Adaptive Preassigned Time Stabilisation of Uncertain Second-Order Sub-Fully Actuated Systems)[J].系统科学与复杂性学报（英文版）,2022(02):703-713
A类：
Preassigned,Stabilisation,SOSFASs,stabilising,FASMC,preassigned,realizability,chatting,conservativeness,unnecessarily
B类：
Adaptive,Time,Uncertain,Second,Order,Sub,Fully,Actuated,Systems,For,class,second,order,fully,actuated,systems,this,paper,presents,preset,trajectory,PT,adaptive,method,by,integrating,function,augmented,sliding,mode,technique,flat,zone,introduced,Lyapunov,under,study,subject,internal,uncertainties,external,disturbances,proposed,exhibits,several,attractive,features,states,can,converge,predefined,region,close,zero,be,confined,safe,area,which,make,coefficient,matrix,always,rank,preserve,controller,utilization,not,only,eliminates,phenomenon,but,also,avoids,potential,persistent,problem,law,gain,increases,when,necessary,that,current,sufficient,suppress,therefore,design,due,high,effectively,reduced,effectiveness,verified,via,numerical,example
AB值：
0.522732
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