Design And Application Of Adaptive Finite Time Control For Uncertain Nonlinear Systems

For a class of high-order uncertain nonlinear systems, this paper uses sign function method, adaptive strategy, the adding a power integrator technique and some flexible inequalities. The restriction of nonlinear function term is eased essentially, and the controller allows the system state converges in arbitrary finite time. This paper mainly study on the following two control problems.(I) A new method of finite-time adaptive stabilization for high-order uncertain nonlinear systemThis part investigates the finite-time stabilization problem for a class of high-order uncertain nonlinear systems. The novel control strategy that combines sign function with delicate adaptive technique can handle serious uncertainty and nonlinear growth rate. The convergent time can be adjusted arbitrarily by pre-assigning the design parameter. As an application, the developed scheme is utilized to the control problem of the mass-spring mechanical system.(II) The solution of finite-time adaptive control for a class of single-link flexible-joint robot systemsThis part considers the control problem of single-link flexible-joint robot system. By using sign function method, the adding a power integrator technique and the adaptive strategy, a finite-time adaptive controller is constructed. The controller allows the system converges in arbitrary finite time. A numerical example is given to show the e?ectiveness of the control method.In a word, the finite time adaptive control and application of high order uncertain nonlinear system not only expand the existing control strategy, the proposed finite-time stable control design scheme but also make contribution to the traditional nonlinear system control design.