Robust Finite Time Controller Design for Second Order Nonlinear Underactuated Mechanical Systems
نویسندگان
چکیده
For a class of second order underactuated mechanical systems, a robust finite time control strategy is developed in this paper. The robust finite time controller is to drive the tracking error to be zero at the fixed final time. In order to assure system stability, we present a generalized Lyapunov stability proof for the second order underactuated mechanical system. By utilizing a Lyapunov stability theorem, we can achieve finite time tracking of desired reference signals for underactuated systems, which are subject to both external disturbances and system uncertainties. The proposed control scheme is demonstrated by actual experiments on a Furuta pendulum system.
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