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Liyao Hu,Xiaohua Li 제어·로봇·시스템학회 2020 International Journal of Control, Automation, and Vol.18 No.4
In this paper, the fast finite-time H∞ stabilization problem with output constraint is studied for a class of p-normal form nonlinear systems with external disturbances based on Barrier Lyapunov function, the adding a power integrator technique, the finite-time stability theory and H∞ control theory. An output-constrained fast finitetime H∞ controller is designed such that the considered closed-loop system is fast finite-time stable, and the output of the system is constrained by a given bound. At the same time, the influence of external disturbances can be attenuated by H∞ performance. Finally, three numerical examples including a practical robot manipulator system are given to demonstrate the effectiveness and the superiority of the proposed method.