针对现有处理输入受限非线性系统的方法计算过程复杂, 误差大的特点, 提出了一种有限时间稳定的控制器分段设计方法。在控制设计过程中, 采用加幂积分法设计镇定系统的非饱和有限时间控制器, 而当该控制器的输出超过给定的有界上限输出时, 利用泛函的知识证明了系统此时也是有限时间稳定的, 同时证明了分段点的存在性, 给出了对应参数的选取规则, 从而实现了输入受限问题的分段处理。仿真结果验证了该方法的有效性。

To solve the problems of current methods in processing the uncertain nonlinear system with input constraints, such as complicated computation and the large errors, we proposed a step-by-step controller-designing method with finite-time stability. In the process of the control design, an unsaturated finite-time controller of the system was designed by adding a power integrator. Then, when the output of the controller exceeded the bounded upper-limit output, the functional knowledge was used to prove that the system was finite-time stable at that time and that the segment point was existed, and the selection rules of the corresponding parameters were given. As a result, the segment handling of the input-constraint problem was realized. Simulation results proved the effectiveness of the proposed method.