Fast Finite-time H∞ Control for a Class of p-normal Form Nonlinear Systems with Output Constraint and Its Application

In this paper, the fast finite-time H∞, stabilization problem with output constraint is studied for a class of p-normal form nonlinear systems with external disturbances based on Barrier Lyapunov function, the adding a power integrator technique, the finite-time stability theory and H∞ control theory. An output-constrained fast finite-time H∞ controller is designed such that the considered closed-loop system is fast finite-time stable, and the output of the system is constrained by a given bound. At the same time, the influence of external disturbances can be attenuated by H∞ performance. Finally, three numerical examples including a practical robot manipulator system are given to demonstrate the effectiveness and the superiority of the proposed method.