Observer-based finite-time robust control for nonlinear systems with different power Hamiltonian functions

IF 1.4 4区计算机科学 Q4 AUTOMATION & CONTROL SYSTEMS

Proceedings of the Institution of Mechanical Engineers, Part I: Journal of Systems and Control Engineering Pub Date : 2023-09-21 DOI:10.1177/09596518231193135

Chunfu Zhang, Renming Yang, Guangye Li, Mingdong Hou

引用次数: 0

Abstract

This work uses the Hamiltonian function approach to investigate the observer-based finite-time robust control problem of a broad nonlinear system and presents various new results. To begin, the Hamiltonian technique is used to convert the original system to its equivalent form, and then the observer system is designed. Afterward, utilizing the technology and the Lyapunov method, we investigate the finite-time control issue and give several finite-time stabilization results based on the observer method. Finally, a real unmanned vehicle is used to verify the performance of the observer-based finite-time robust stabilization controller. Different from the existing literature on the Hamiltonian method, the Hamiltonian function in this article has different powers, which implies that the results developed in this article have a wider range of application.

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基于观测器的不同幂哈密顿函数非线性系统有限时间鲁棒控制

本文利用哈密顿函数方法研究了一类广义非线性系统的基于观测器的有限时间鲁棒控制问题，并给出了各种新的结果。首先利用哈密顿技术将原系统转换为等效形式，然后设计观测器系统。然后，利用该技术和李雅普诺夫方法研究了有限时间控制问题，并给出了基于观测器方法的有限时间镇定结果。最后，通过实际无人驾驶车辆验证了基于观测器的有限时间鲁棒镇定控制器的性能。与已有的关于哈密顿方法的文献不同，本文的哈密顿函数具有不同的幂次，这意味着本文的结果具有更广泛的应用范围。

本文章由计算机程序翻译，如有差异，请以英文原文为准。

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来源期刊

Proceedings of the Institution of Mechanical Engineers, Part I: Journal of Systems and Control Engineering 工程技术-自动化与控制系统

CiteScore

3.50

自引率

18.80%

发文量

审稿时长

4.2 months

期刊介绍： Systems and control studies provide a unifying framework for a wide range of engineering disciplines and industrial applications. The Journal of Systems and Control Engineering refleSystems and control studies provide a unifying framework for a wide range of engineering disciplines and industrial applications. The Journal of Systems and Control Engineering reflects this diversity by giving prominence to experimental application and industrial studies. "It is clear from the feedback we receive that the Journal is now recognised as one of the leaders in its field. We are particularly interested in highlighting experimental applications and industrial studies, but also new theoretical developments which are likely to provide the foundation for future applications. In 2009, we launched a new Series of "Forward Look" papers written by leading researchers and practitioners. These short articles are intended to be provocative and help to set the agenda for future developments. We continue to strive for fast decision times and minimum delays in the production processes." Professor Cliff Burrows - University of Bath, UK This journal is a member of the Committee on Publication Ethics (COPE).cts this diversity by giving prominence to experimental application and industrial studies.