Journal of the Institute of Electronics Engineers of Korea SC (전자공학회논문지SC)

The Institute of Electronics and Information Engineers (대한전자공학회)
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Robust Finite-Time Stabilization for an Uncertain Nonlinear System

불확실한 비선형 시스템에 대한 강인 유한 시간 안정화

  • Seo, Sang-Bo (ASRI, School of Electrical Engineering and Computer Science, Seoul National University) ;
  • Shin, Hyung-Bo (ASRI, School of Electrical Engineering and Computer Science, Seoul National University) ;
  • Seo, Jin-Heon (ASRI, School of Electrical Engineering and Computer Science, Seoul National University)
  • 서상보 (서울대학교 전기컴퓨터공학부) ;
  • 심형보 (서울대학교 전기컴퓨터공학부) ;
  • 서진헌 (서울대학교 전기컴퓨터공학부)
  • Published : 2009.03.25
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Abstract

In this paper we consider the problem of global finite-time stabilization for a class of uncertain nonlinear systems which include uncertainties. The uncertainties are time-varying disturbances or parameters belong to a known compact set. The proposed design method is based on backstepping and dynamic exponent scaling using an augmented dynamics, from which, a dynamic smooth feedback controller is derived. The finite-time stability of the closed-loop system and boundedness of the controller are preyed by the finite-time Lyapunov stability theory and a new notion 'degree indicator'.

본 논문에서는 불확실성을 가지는 비선형 시스템에 대한 강인 유한 시간 안정화 문제를 고려한다. 불확실성은 시변 외란 혹은 이미 알고 있는 옹골 집합에 포함된 파라미터들이다. 제안된 설계기법은 역진기법(backstepping)과 추가된 다이나믹스를 이용한 다이나믹 지수 보정법(dynamic exponent scaling)에 기반을 두고 있으며, 이로부터 다이나믹 스무스 궤환 제어기(dynamic smooth feedback controller)가 유도된다. 페루프 시스템의 유한 시간 안정과 제어기의 유한함은 각각 유한 시간 안정에 관한 리아푸노프 안정 이론과 새로운 개념인 '차수 지표자(degree indicator)'를 이용하여 증명된다.

Keywords

References

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