High-Order Fully Actuated System Approach to Robust Control of Impulsive Systems

Qinbo Huang, Jitao Sun, Chengcui Zhang

Abstract: The high-order fully actuated (HOFA) system approach is presented for the robust control of nonlinear uncertain control systems with impulsive effects. In contrast to most existing methods, the proposed method can eliminate the known nonlinearities in the continuous-time dynamics by utilizing the full-actuation features of the system. Firstly, a Lagrange stability theorem is derived for the nonlinear impulsive systems. Then the robust stabilization problems of nonlinear uncertain control systems with impulsive effects in both the Lagrange sense and the Lyapunov sense are investigated by combining robust control with the HOFA system approach, which is an extension of the HOFA system approach. Finally, the effectiveness of the proposed method is illustrated by the numerical simulation on the RLC circuit.