【作者】 王翔宇； 丁世宏； 李世华；

【Author】 WANG Xiang-yu~1 DING Shi-hong~1 LI Shi-hua~1 (1.School of Automation,Southeast University,Nanjing,210096)

【机构】 东南大学自动化学院；

【摘要】 针对带有未知有界扰动的二阶双积分系统进行了扰动性分析。本文证明了,在利用非线性齐次系统性质设计出一种状态反馈控制器作用下,该二阶系统的状态会在有限时间内收敛到一个包围原点的区域中。该区域的边界由控制参数决定,通过调节参数可以使收敛区域任意小。并且给出了严格的稳定性分析。与标准PD控制律相比,有限时间控制律可以使闭环系统具有更好的抗扰动性能。仿真结果表明了有限时间控制方法的有效性和优越性。更多还原

【Abstract】 We consider the disturbance analysis for a double integrator system with unknown but bounded disturbance.Under a state feedback controller which is obtained by using homogeneous properties of nonlinear homogeneous systems.we show that the states of the second orderr system can be stabilized to a region including the origin.The boundary of the region is determined by the control parameters and can be rendered as small as desired by adjusting the parameters.The rigorous stability analysis is also given.Compared with linear control law.the finite-time control law yields a better disturbance rejection property.Simulation results are provided to demonstrate the effectiveness and superiority of finite-time control technique.更多还原