Saleh Mobayen
National Yunlin University of Science and Technology, Taiwan
Abstract: In this seminar, a barrier function adaptive non-singular finite-time control scheme is introduced for robust stabilization of nonlinear systems under external disturbances. It is proved that the barrier function-based control approach can force the system states to converge to origin in finite time. A sufficient criterion is derived using Lyapunov stability theorem and linear matrix inequality (LMI) to satisfy the stability of states. The suggested design method eliminates the necessity to have any knowledge about the upper bounds of external disturbances; a common requirement in sliding mode control implementation. The stability analysis verifies that the system states, under the designed control scheme, can asymptotically converge to a pre-defined region.