Robust Finite-Time Stabilizers for a Connected Chain of Nonlinear Double-Integrator Systems

In this paper, the robust finite-time stabilization problem is addressed for a wide group of fully actuated nonlinear systems containing dependent double-integrator subsystems in the presence of unbounded uncertainties. Based on the nonsingular terminal sliding mode control, three types of stabilize...

Full description

Saved in:
Bibliographic Details
Published in:IEEE systems journal 2019-03, Vol.13 (1), p.833-841
Main Authors: Abooee, Ali, Arefi, Mohammad Mehdi
Format: Article
Language:English
Subjects:
Asymptotic stability
Computer simulation
Convergence
Double integrators
Finite reaching and settling times
finite-time stabilizer
finite-time tracking problem
Lyapunov methods
Nonlinear systems
nonsingular terminal sliding mode control (TSMC)
Robot arms
Robots
Robustness
Robustness (mathematics)
Sliding mode control
Stabilization
Subsystems
Tracking problem
Uncertainty
Upper bounds
Citations: Items that this one cites
Items that cite this one
Online Access:Get full text
Tags: Add Tag
No Tags, Be the first to tag this record!
Description
Summary:In this paper, the robust finite-time stabilization problem is addressed for a wide group of fully actuated nonlinear systems containing dependent double-integrator subsystems in the presence of unbounded uncertainties. Based on the nonsingular terminal sliding mode control, three types of stabilizers are proposed to steer the system states to zero within adjustable convergence finite times. Moreover, several inequalities are obtained to determine the conservative upper bounds for these convergence finite times. To clarify the applicability of the suggested stabilization methods, a finite-time tracking problem for robotic manipulators is discussed and handled by applying three introduced stabilizers. Finally, a numerical simulation related to this tracking problem is provided.
ISSN:1932-8184
1937-9234
DOI:10.1109/JSYST.2018.2851153