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Fixed-Time $\mathcal {H}_{\infty }$ Control for Port-Controlled Hamiltonian Systems

2018; Institute of Electrical and Electronics Engineers; Volume: 64; Issue: 7 Linguagem: Inglês

10.1109/tac.2018.2874768

2334-3303

Xinggui Liu, Xiaofeng Liao,

Adaptive Control of Nonlinear Systems

In this paper, the locally fixed-time and globally fixed-time H ∞ control problems for the port-controlled Hamiltonian (PCH) systems are investigated via the interconnection and damping assignment passivity-based control (IDA-PBC) technique. Compared with finite-time stabilization, where the convergence time of the closed-loop system's states relies on the initial values, the settling time of fixed-time stabilization can be adjusted to achieve desired equilibrium point regardless of initial conditions. The concepts of fixed-time H ∞ control, fixed-time stability region (or region of attraction), and fixed-time stability boundary are presented in this paper, and the criterions of globally fixed-time attractivity of a prespecified locally fixed-time stability region are obtained. Combining the locally fixed-time stability of an equilibrium point and the globally fixed-time attractivity of a prespecified fixed-time stability region, the globally fixed-time H ∞ control problem of PCH system is effectively solved. Two novel control laws are designed to deal with the globally fixed-time H ∞ control problem, and the conservativeness in estimating the settling time is also briefly discussed. An illustrative example shows that the theoretical results obtained in this paper work very well in the fixed-time H ∞ control design for PCH systems.