Global finite-time stabilization of a class of perturbed planar systems with actuator saturation and disturbances

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This paper addresses the problem of global finite-time stabilization for a class of planar nonlinear systems subject to actuator saturation and bounded disturbances. A singularity-free integral sliding mode surface is first developed by geometric homogeneity technique and then a simple saturated robust control is proposed. Global finite-time stabilization is proved with geometric homogeneity technique and Lyapunov's stability theory. The conditions on control gains ensuring global finite-time stability and avoidance of actuator saturation are explicitly given. Advantages of the proposed control include simple and intuitive structure, global finite-time stability featuring faster transient and higher steady-state stabilization, and the ability to avoid actuator saturation by selecting the control gains a priori. Simulations show the improved performance of the proposed approach.

OriginalspracheEnglisch
ZeitschriftAsian Journal of Control
Anzahl der Seiten6
ISSN1561-8625
DOIs
PublikationsstatusElektronische Veröffentlichung vor Drucklegung - 04.08.2021

DOI