Finite-time output feedback stabilisation for a class of feedforward nonlinear systems with input saturation

ABSTRACT

This paper considers the problem of global finite-time stabilisation by output feedback for a class of feedforward (upper triangular) nonlinear systems with input saturation. Based on the finite-time stability theorem, and by skillfully using the homogeneous domination approach and the nested saturation technique, a saturated output feedback controller is successfully constructed, which renders the origin of the closed-loop system globally finite-time stable. In simulation studies, a numerical example is illustrated to show the effectiveness of the control scheme. Moreover, the design strategy is successfully applied to solve the saturated finite-time control problem for vertical wheel on rotating table.

KEYWORDS:

• Feedforward nonlinear systems
• input saturation
• homogeneous domination approach
• nested saturation
• output feedback
• finite-time stabilisation

Acknowledgements

The authors thank the editor and the anonymous reviewers for their constructive comments and suggestions for improving the quality of the paper.

Disclosure statement

No potential conflict of interest was reported by the authors.

Additional information

Funding

National Nature Science Foundation of China [grant number 61403003], [grant number 61673243]; the Project of Taishan Scholar of Shandong Province of China [grant number TS20120529]; the PhD Program Foundation of Ministry of Education of China [grant number 20123705110002]; the Scientific and Technological Project of Anyang City [grant number 2015310].

Notes on contributors

Fangzheng Gao

Fangzheng Gao received his B.Sc. degree in Information and Computing Science in 2004 and the M.Sc. degree in operational research and cybernetics in 2007, both from Zhengzhou University, Zhengzhou, China. He is currently working toward the Ph.D. degree in the School of Automation, Southeast University, Nanjing, China. His research interests include stochastic systems, robust control and networked control systems.

Yuqiang Wu

Yuqiang Wu received his Ph.D. degree in Automatic Control from Southeast University, Nanjing, China, in 1994. Currently, he is a professor in the Institute of Automation, Qufu Normal University, China. His research interests include variable structure control and nonlinear system control.