Finite-time stabilization of port-controlled Hamiltonian systems with nonvanishing disturbances

摘要

This paper concerns the problem of finite-time stabilization of nonlinear port-controlled Hamiltonian systems subject to nonvanishing disturbances via a composite control manner. The composite controller is developed by combining the damping injection, the finite-time feedback control and the finite-time disturbance observer techniques. The key idea is that a finite-time disturbance observer is designed to estimate disturbances and the estimation of disturbances is employed to feedforward compensate the disturbances. Finite-time stability analysis for the augmented system is presented. An example of a nonlinear circuit system with simulation results demonstrates the effectiveness of the proposed method.