In this article, the finite-time control problem of a class of nonlinear underactuated systems is addressed. By using the auxiliary state generated by a time-varying oscillator like differential equation and constructing a novel Lyapunov-like function, a time-varying dynamic feedback controller is designed for such nonlinear underactuated systems. It is proved that the state of the closed-loop system converges to zero at the finite time and the controls are bounded. As an application, the finite-time tracking problem for underactuated axisymmetric systems is solved. Numerical simulations verify the effectiveness of the proposed methods.


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    Title :

    Finite-Time Control of a Class of Nonlinear Underactuated Systems With Application to Underactuated Axisymmetric Spacecraft


    Contributors:


    Publication date :

    2023-10-01


    Size :

    1364521 byte




    Type of media :

    Article (Journal)


    Type of material :

    Electronic Resource


    Language :

    English



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