Robust H finite time stability control of a class of nonlinear systems
Abstract In this paper, a robust H finite time stability control approach is proposed for a class of nonlinear systems without solving the Hamilton Jacobi equation and the Riccati equation. First, the concept of robust H finite time stability is proposed and the corresponding theorem is presented. Then, for a class of common dynamic systems such as robotic manipulators, a robust H finite time stability controller is designed based on the backstepping method, with which the closed loop system is not only global finite time stable but also has L 2 gain less than or equal to g Finally, some simulations are performed on a robotic manipulator with two degrees of freedom. The results indicate that the proposed control approach is of high effectiveness.