Logic-based switching finite-time stabilization with applications in mechatronic systems
Date
2023
Authors
Zheng, S.
Wang, S.
Chen, X.
Xie, Y.
Shi, P.
Jiang, Z.
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Journal article
Citation
International Journal of Robust and Nonlinear Control, 2023; 33(5):3064-3085
Statement of Responsibility
Shiqi Zheng, Shihao Wang, Xiang Chen, Yuanlong Xie, Peng Shi, Zhouxiang Jiang
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Abstract
This paper investigates the finite time stabilization problem for a class of nonlinear systems with unknown control directions and unstructured uncertainties. The unstructured uncertainties indicate that not only the parameters but also the structure of the system nonlinearities are uncertain. A new adaptive control method is proposed for the considered system. Logic-based switching rule is utilized to tune the controller parameters online to stabilize the system in finite time. Different from the existing adaptive controllers for structured/parametric uncertainties, a new switching barrier Lyapunov method and supervisory functions are introduced to overcome the obstacles caused by unstructured uncertainties and unknown control directions. Both simulations and experiments are conducted on mechatronic systems to verify the effectiveness of the proposed methods.
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© 2022 JohnWiley & Sons Ltd.