Finite-time terminal synergetic control of a class of nonlinear systems with unmatched uncertainties. (10th October 2019)

• Record Type: Journal Article
• Authors: Ahifar, Azadeh; Noei, Abolfazl Ranjbar; Rahmani, Zahra
• Is Part Of: IMA journal of mathematical control and information. Volume 37:Number 3(2020)
• Page Start: 765
• Page End: 776
• Publication Date: 2019-10-10
• Subjects: terminal synergetic -- finite-time convergence -- nonlinear system -- stability; Control theory -- Periodicals; 629.831205
• DOI: 10.1093/imamci/dnz014
• Languages: English
• ISSNs: 0265-0754

Abstract

Abstract: In this paper, the problem of finite-time tracking for nth-order uncertain nonlinear systems with unmatched uncertainties is addressed. Using a terminal synergetic manifold, a controller is provided to force the tracking error to the origin in finite time in the presence of unmatched uncertainties. With this method, chattering problem is completely removed without defining a new function. Lyapunov theory is used to prove the stability of the proposed method. The proposed controller provides the convergence of finite-time tracking error to zero by suitable performance that is theoretically analysed and proved through simulation.