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.
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.