刊名:International Journal of Control, Automation and Systems
出版年:2017
出版时间:February 2017
年:2017
卷:15
期:1
页码:178-185
全文大小:
刊物类别:Engineering
刊物主题:Control, Robotics, Mechatronics;
出版者:Institute of Control, Robotics and Systems and The Korean Institute of Electrical Engineers
ISSN:2005-4092
卷排序:15
文摘
This paper considers the problem of the global finite-time stabilization for the high-order nonlinear systems with unknown control directions. Due to the uncertainty of control directions, the paper analyzes all possible conditions of the directions. The Lyapunov-based logic switching rule ensures that we can find the correct control directions. The adaptive switching controller with a switching parameter which is to be tuned online guarantees that the derivative of Lyapunov function is less than a negative definite function and the closed-loop system is globally finite-time stable. The effectiveness of the proposed method is illustrated by an example.