%0 Journal Article
%T Global robust finite time stabilization of a class of nonlinear uncertain systems<br>一类不确定非线性系统的全局鲁棒有限时间镇定
%A LI Peng
%A ZHENG Zhi-qiang
%A MA Jian-jun
%A <br>李鹏
%A 郑志强
%A 马建军
%J 控制理论与应用
%D 2011
%I 
%X A continuous global robust finite time feedback stabilization control law is proposed for a class of uncertain nonlinear systems. Firstly, a state feedback control law is designed for the nominal system. By using Lyapunov direct method and LaSalle invariance principle, we prove that the resulting closed-loop nominal system is globally asymptotically stable with the negative homogeneity in degrees. Secondly, introducing an auxiliary variable, we design a compensated control law for compensating the uncertainties of the system by using the finite-time convergent second-order sliding mode Super-twisting algorithm. The range of the parameters in the compensation control law is determined by using the finitetime Lyapunov function. Finally, a continuous feedback control law is developed for the closed-loop system to converge to its equilibrium point in a finite period of time. Simulation results show the effectiveness of the proposed control law.
%K nonlinear system
%K finite time control
%K second order sliding mode
%K feedback stabilization<br>非线性系统
%K 有限时间控制
%K 二阶滑模
%K 反馈镇定
%U http://www.alljournals.cn/get_abstract_url.aspx?pcid=5B3AB970F71A803DEACDC0559115BFCF0A068CD97DD29835&cid=8240383F08CE46C8B05036380D75B607&jid=970898A57DFC021F93AB51667BAED7F7&aid=B18D47477623D2767FC4FA56A4934366&yid=9377ED8094509821&vid=D3E34374A0D77D7F&iid=DF92D298D3FF1E6E&sid=BD77137A0285B6FF&eid=753F7A67351FADCC&journal_id=1000-8152&journal_name=控制理论与应用&referenced_num=0&reference_num=17