Finite-time stabilization and H∞ control of Port-controlled Hamiltonian systems with disturbances and saturation

Fu, Baozeng; Wang, Qingzhi; Li, Ping

doi:10.1371/journal.pone.0255797

Cited by 6 publications

(2 citation statements)

References 36 publications

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“…Concerning this, time-varying switched network topologies with a finite set of configurations are more realistic and demanding. Therefore, the consensus problem of linear time-varying and time-invariant MASs under connected communication graph and switching topologies (STs) have been studied [16][17][18]. A distributed adaptive protocol has been suggested for the LF consensus issue of linear time-varying MASs under STs [19].…”

Section: Introductionmentioning

confidence: 99%

H∞-based control of multi-agent systems: Time-delayed signals, unknown leader states and switching graph topologies

et al. 2022

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The paper investigates a leader-following scheme for nonlinear multi-agent systems (MASs). The network of agents involves time-delay, unknown leader’s states, external perturbations, and switching graph topologies. Two distributed protocols including a consensus protocol and an observer are utilized to reconstruct the unavailable states of the leader in a network of agents. The H∞-based stability conditions for estimation and consensus problems are obtained in the framework of linear-matrix inequalities (LMIs) and the Lyapunov-Krasovskii approach. It is ensured that each agent achieves the leader-following agreement asymptotically. Moreover, the robustness of the control policy concerning a gain perturbation is guaranteed. Simulation results are performed to assess the suggested schemes. It is shown that the suggested approach gives a remarkable accuracy in the consensus problem and leader’s states estimation in the presence of time-varying gain perturbations, time-delay, switching topology and disturbances. The H∞ and LMIs conditions are well satisfied and the error trajectories are well converged to the origin.

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Section: Introductionmentioning

confidence: 99%

H∞-based control of multi-agent systems: Time-delayed signals, unknown leader states and switching graph topologies

et al. 2022

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“…However, the literature mentioned above are mainly based on infinite time control strategy, not finite time control strategy. Recently, Fu et al 37 studied the finite-time robust control problem of Port-Control Hamiltonian (PCH) systems with input saturation and perturbation and gave several good robust results without the observer method. Therefore, it is still an unsolved problem to use the Hamiltonian method to study the observer-based finite-time stabilization control problem and to give the corresponding less conservative results for the actual manipulator system, which motivated the present article.…”

Section: Introductionmentioning

confidence: 99%

Finite-time robust stabilization of manipulator system with uncertainty via observer method

Shi

Yang

2022

Proceedings of the Institution of Mechanical Engineers, Part I:

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Via Hamiltonian function method, the article studies the observer-based finite-time robust stabilization problem of a class of two joint uncertain manipulator system under external disturbance. First, we present an equivalent Hamiltonian model for the two-degree-of-freedom manipulator system and design its finite-time observer and develop a finite-time robust stabilization control result by using Lyapunov stability theory and dimension expansion technique for the manipulator system with external disturbance. On this basis, we further study the robust control problem of the mechanical system containing uncertainty and external disturbance simultaneously and develop several corresponding robust control results for the system. Finally, the control effect is proved by an example simulation. Compared with the existing observer-based infinite time stability control results, an observer and a finite time controller are designed in this article. The system has good robustness to external disturbances and can converge quickly.

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Disturbance Rejection Control Method Based on Variable Damping and Port Controlled Hamiltonian with Dissipation Model for Induction Drive Motor

Fan,

Huang,

Sun

et al. 2023

Int. J. Precis. Eng. Manuf.

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Finite-time stabilization and H∞ control of Port-controlled Hamiltonian systems with disturbances and saturation

Cited by 6 publications

References 36 publications

H∞-based control of multi-agent systems: Time-delayed signals, unknown leader states and switching graph topologies

H∞-based control of multi-agent systems: Time-delayed signals, unknown leader states and switching graph topologies

Finite-time robust stabilization of manipulator system with uncertainty via observer method

Disturbance Rejection Control Method Based on Variable Damping and Port Controlled Hamiltonian with Dissipation Model for Induction Drive Motor

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