Design of nonlinear optimal tracking control law based on finite-time stability for quadratic performance index

Abstract

In this paper, a design method of optimal tracking control based on finite-time stability for quadratic performance index is proposed. Finite-time stability of tracking control involves dynamical systems whose actual output can track desired output in finite time while satisfying Lyapunov stability. A nonlinear control law which guaranteed finite-time stability is designed depending on the core idea of dynamic programming. By using Hamilton–Jacobi–Bellman (HJB) equation and finite-time stability theory, sufficient conditions involving V-function are provided, and design steps for nonlinear finite-time tracking control law are derived by constructing augmented systems. In addition, the V-function is constructed to obtain corresponding law for given systems, which verified that the design method is feasible. Simulation examples validate the efficiency of the results.