Design of finite-time <i>H</i>_∞ controller for uncertain nonlinear systems and its application

摘要

This paper studies the problem of finite-time H ∞ control for strict feedback nonlinear systems with external disturbance. The finite-time stability theory, H ∞ control method, backstepping technique, together with adding a power integrator tool are combined to design a finite-time H ∞ state feedback controller. The obtained controller can make the closed-loop system finite-time convergent, and the influence of the external disturbance is attenuated to a given degree. Two numerical examples are presented to show the effectiveness and feasibility of the proposed method. Meanwhile, the proposed method is also applied to robot manipulators.