Design of finite-time H_∞ controller for uncertain nonlinear systems and its application

ABSTRACT

This paper studies the problem of finite-time H _∞ control for strict feedback nonlinear systems with external disturbance. The finite-time stability theory, H _∞ control method, backstepping technique, together with adding a power integrator tool are combined to design a finite-time H _∞ state feedback controller. The obtained controller can make the closed-loop system finite-time convergent, and the influence of the external disturbance is attenuated to a given degree. Two numerical examples are presented to show the effectiveness and feasibility of the proposed method. Meanwhile, the proposed method is also applied to robot manipulators.

KEYWORDS:

• Finite-time stability
• H_∞ control
• uncertain nonlinear systems
• robot manipulators

Acknowledgments

The authors would like to thank Editor-in-Chief, Associate Editor and the anonymous reviewers for their valuable and constructive comments that have improved the presentation of this paper.

Disclosure statement

No potential conflict of interest was reported by the authors.

Additional information

Funding

This project is supported partially by China Scholarship Council [grant number 201606080044]; NSERC of Canada; National Natural Science Funds of China [grant number 61773108], [grant number 61503222].