| Abstract: |
| This paper investigates the variable convergence rate stability of nonlinear impulsive systems utilising the fully
actuated system (FAS) method. Different from most of the existing methods, this work eliminates the nonlinearities by using the full-actuation property of the system, based on which the idea of generalized pole assignment is employed to ensure the convergence of the target system with regulable convergence rate. According to the definition of global exponential stability, a variable convergence rate stability theorem for nonlinear impulsive systems is given using the FAS approach. Finally, the validity and feasibility of the method are verified by numerical
simulations of a single-link flexible joint robotic system. |
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