TY - GEN
T1 - Fixed-time stabilization of second-order uncertain multivariable nonlinear systems
AU - Zuo, Zongyu
AU - Defoort, Michael
AU - Tian, Bailing
AU - Ding, Zhengtao
N1 - Publisher Copyright:
© 2016 TCCT.
PY - 2016/8/26
Y1 - 2016/8/26
N2 - This paper studies the fixed-time stabilization problem for a class of second-order multivariable multi-input nonlinear systems with matched uncertainties. Different from the control design for scalar systems, a multivariable sliding mode control design, based on a set of nonlinear coupled sliding surfaces, is proposed to stabilize the system at the origin with a uniformly bounded settling time, i.e., fixed-time stabilization. The key benefit of the proposed design framework is the reduction of discontinuity and singularity. For practical implementation, a saturation function is injected into the proposed design to avoid the control singularity problem, and an almost fixed-time stability of the resultant system is proved by using the phase analysis and the Lyapunov tools. Finally, a two-link planar elbow robot is introduced as an example to validate the effectiveness of our design framework.
AB - This paper studies the fixed-time stabilization problem for a class of second-order multivariable multi-input nonlinear systems with matched uncertainties. Different from the control design for scalar systems, a multivariable sliding mode control design, based on a set of nonlinear coupled sliding surfaces, is proposed to stabilize the system at the origin with a uniformly bounded settling time, i.e., fixed-time stabilization. The key benefit of the proposed design framework is the reduction of discontinuity and singularity. For practical implementation, a saturation function is injected into the proposed design to avoid the control singularity problem, and an almost fixed-time stability of the resultant system is proved by using the phase analysis and the Lyapunov tools. Finally, a two-link planar elbow robot is introduced as an example to validate the effectiveness of our design framework.
KW - Fixed-time stabilization
KW - Robot
KW - Sliding mode control
UR - https://www.scopus.com/pages/publications/84987870724
U2 - 10.1109/ChiCC.2016.7553202
DO - 10.1109/ChiCC.2016.7553202
M3 - 会议稿件
AN - SCOPUS:84987870724
T3 - Chinese Control Conference, CCC
SP - 907
EP - 912
BT - Proceedings of the 35th Chinese Control Conference, CCC 2016
A2 - Chen, Jie
A2 - Zhao, Qianchuan
A2 - Chen, Jie
PB - IEEE Computer Society
T2 - 35th Chinese Control Conference, CCC 2016
Y2 - 27 July 2016 through 29 July 2016
ER -