Journal
Scientific and Technical Journal of Information Technologies, Mechanics and Optics
UDK
Issue:6 (112)
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CONVERGENCE SPEED INCREASE OF A FINITE-TIME STABLE CONTROL SYSTEM
Annotation
This paper is devoted to tuning of the finite-time control algorithm in order to reduce the transient process time of a closed-loop system. The control object is a chain of consecutively connected integrators with a state vector available for measurement. It is assumed that the control object operates under conditions of deterministic external disturbances and parametric uncertainties of the system. The advantage of the modifiable algorithm in comparison with previously presented results is the absence of the need for additional computational procedures. However, a lower convergence rate of the system trajectories to the equilibrium position can be noticed as a drawback. The presented tuning of the finite control law makes it possible to reduce the time of the transient process of a closed system. The tuned finite-time control algorithm is developed by combination of the method of implicitly defined Lyapunov function with the theory of weighted homogeneous systems. Analytic expressions are obtained that give the possibility to estimate the convergence time of the state vector to the equilibrium position, as well as the possibility of its decrease at the proposed approach application. Computer simulation of the developed control algorithm was performed on the triple-integrator system with deterministic external disturbances in control channel. It has confirmed the effectiveness of the presented theoretical results.
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