声明
Acknowledgments
摘要
Abstract
Table of Contents
List of Figures
List of Tables
Abbreviations
CHAPTER 1 INTRODUCTION
1.1 Finite-time control
1.1.1 Non-smooth control theory
1.1.2 Adding a power integrator technique
1.1.3 Sliding mode control theory
1.4.4 Review of state observers and disturbance observers
1.2 Rigid manipulator systems
1.3 Train systems
1.4 Research objectives and contribution
1.5 Research methodology
1.6 Possible difficulties
1.7 Dissertation layout
CHAPTER 2 PRELIMINARIES AND NOTATIONS
2.1 Preliminaries
2.1.2 Lyapunov theory
2.1.3 Homogeneity
2.1.4 Useful inequalities
2.1.5 Variable structure systems and sliding modes
2.2 Controller design methods
2.2.1 Backstepping
2.2.2 Non-smooth feedback stabilization in finite-time
2.2.3 Design of integral nonsingular terminal sliding mode control (INTSMC) for second-order systems
2.2.4 Finite-time disturbance observer (FTDO) design
2.3 Summary
CHAPTER 3 GLOBAL FINITE-TIME POSITION CONTROL FOR RIGID MANIPULATOR SYSTEMS
3.1 Introduction
3.2 Preliminaries and problem formulation
3.3 Controller design
3.4 Numerical simulations and discussions
3.5 Summary
CHAPTER 4 FINITE-TIME POSITION TRACKING CONTROL FOR RIGID MANIPULATOR SYSTEMS WITH DISTURBANCES
4.1 Introduction
4.2 Problem formulation
4.3 Controller design and stability analysis
4.3.1 Finite-time observer design
4.3.2 Finite-time controller design
4.4 Numerical simulations and discussions
4.4.1 The case of without output measurement noises
4.4.2 The case of with output measurement noises
4.5 Summary
CHAPTER 5 FINITE-TIME CONTROL FOR TRAIN SYSTEM BASED ON NON-SINGULAR TERMINAL SLIDING MODE CONTROL
5.1 Introduction
5.2 Model of train system and problem formulation
5.3 Tracking control design
5.4 Simulation case studies
5.4.1 Case (1) without chattering reduction
5.4.2 Case (2) with chattering reduction
5.5 Summary
CHAPTER 6 CONCLUSIONS AND FUTURE RESEARCH
6.1 Conclusions
6.2 The innovative points of this dissertation
6.3 Future research
References
Publications