Global finite time stabilization of pure-feedback systems with input dead-zone nonlinearity |
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| Authors: | Zhikai Zhang Guangren Duan Mingzhe Hou |
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| Institution: | Center for Control Theory and Guidance Technology, Harbin Institute of Technology, P.O. Box 416, Harbin 150001, China |
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| Abstract: | This paper is concerned with finite-time stabilization of a class of pure-feedback systems with dead-zone input. A systematic design procedure is established to derive the finite-time controller. Firstly, to circumvent the difficulties arising from the nonaffine properties, through a change of coordinates and incorporating mean value theorem, a system transformation technique is introduced to convert the original nonaffine system into an affine one. Then, based on the strengthened finite-time Lyapunov stability theorem as well as utilizing the bounds of dead-zone parameters, the finite-time stabilizer is explicitly constructed via backstepping design approach. It is proven that the designed controller can ensure all the states of the closed-loop system converge to zero in a finite time and maintain at zero afterwards. The proposed design framework is also extended to finite-time stabilization of uncertain pure-feedback systems and finite-time tracking control of pure-feedback systems. The effectiveness of the theoretical results are finally demonstrated by a numerical example and a realistic example. |
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| Keywords: | Corresponding author |
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