Abstract
AbstractThis paper addresses the problem of global finite‐time stabilization for a class of planar nonlinear systems subject to actuator saturation and bounded disturbances. A singularity‐free integral sliding mode surface is first developed by geometric homogeneity technique and then a simple saturated robust control is proposed. Global finite‐time stabilization is proved with geometric homogeneity technique and Lyapunov's stability theory. The conditions on control gains ensuring global finite‐time stability and avoidance of actuator saturation are explicitly given. Advantages of the proposed control include simple and intuitive structure, global finite‐time stability featuring faster transient and higher steady‐state stabilization, and the ability to avoid actuator saturation by selecting the control gains a priori. Simulations show the improved performance of the proposed approach.
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