Finite-time stabilization and H∞ control for a class of switched nonlinear port-controlled Hamiltonian systems subject to actuator saturation

• Published in: Journal of the Franklin Institute Vol. 357; no. 16; pp. 11807 - 11829
• Main Authors: Wang, Zi-Ming, Wei, Airong, Zong, Guangdeng, Zhao, Xudong, Li, Hanfeng
• Format: Journal Article
• Language: English
• Published: Elmsford Elsevier Ltd 01.11.2020; Elsevier Science Ltd
• Subjects: Actuators; Disturbances; Dwell time; Feedback control; Feedback control systems; Finite element analysis; H-infinity control; Hamiltonian functions; Liapunov functions; Nonlinear control; Nonlinear systems; Saturation; Stability criteria; Stabilization; State feedback; Subsystems; Switching; Systems stability
• ISSN: 0016-0032; 1879-2693; 0016-0032
• DOI: 10.1016/j.jfranklin.2019.11.055

This paper addresses the problems of finite-time stabilization and H∞ control for a class of switched port-controlled Hamiltonian (SPCH) systems with actuator saturation (AS). By the energy-based multiple Lyapunov functions (MLFs) method and the mode-dependent average dwell time (MDADT) technique, finite-time stability criterion for unforced SPCH systems with all modes finite-time stable is derived. Further, state feedback strategies and truncation inequality technique are employed to achieve finite-time stabilization of SPCH systems with AS, where each unforced subsystem may be finite-time unstable. Besides, a switching state feedback controller is developed to attenuate the external disturbances for SPCH systems with AS and external disturbances, and new criterion is presented to solve the finite-time H∞ control problem for the augmented system. Finally, numerical examples are provided to show the effectiveness of the proposed methods.