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Robust finite-time tracking for a square fully actuated class of nonlinear systems

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Abstract

In this paper, the robust finite-time tracking problem is addressed for a square fully actuated class of nonlinear systems subjected to disturbances and uncertainties. Firstly, two applicable lemmas are derived and novel nonlinear sliding surfaces (manifolds) are defined by applying these lemmas. Secondly, by developing the nonsingular terminal sliding mode control, two different types of robust nonlinear control inputs are designed to meet and accomplish the aforementioned finite-time tracking objective. The global finite-time stability of the closed-loop nonlinear system is evaluated analytically and mathematically. The proposed control inputs are utilized to tackle and solve two interesting issues containing (a): the finite-time tracking problem of the unified chaotic system and (b): the finite-time synchronization of two non-identical hyperchaotic systems. Finally, based on MATLAB software, two numerical simulations are carried out to illustrate and demonstrate the effectiveness and performance of the proposed robust finite-time nonlinear control schemes.

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Authors and Affiliations

  1. Department of Electrical Engineering, Science and Research Branch, Islamic Azad University, Tehran, Iran

    Hamidreza Fakharizade Bafghi & Ali Moarefianpur

  2. Department of Computer Engineering, Iran University of Science and Technology, Tehran, Iran

    Mohammad Reza Jahed-Motlagh

  3. Department of Electrical Engineering, Yazd University, Yazd, Iran

    Ali Abooee

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  1. Hamidreza Fakharizade Bafghi
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  2. Mohammad Reza Jahed-Motlagh
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  3. Ali Abooee
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  4. Ali Moarefianpur
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Correspondence to Mohammad Reza Jahed-Motlagh.

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Fakharizade Bafghi, H., Jahed-Motlagh, M.R., Abooee, A. et al. Robust finite-time tracking for a square fully actuated class of nonlinear systems. Nonlinear Dyn 103, 1611–1625 (2021). https://doi.org/10.1007/s11071-020-06187-0

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  • DOI: https://doi.org/10.1007/s11071-020-06187-0

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