本篇論文致力於研究一種具有非對稱輸出約束之高階非線性系統輸出迴授有限時間穩定化問題，並且提出一套由加冪積分技術、分數型障礙Lyapunov函數及降階非平滑觀測器組合而成的一致性控制器設計方法；本方法之一致性特色在於透過本方法所建構的控制器對於受控系統無論受到對稱型輸出約束或是非對稱型輸出約束皆可直接適用並且不需要對控制器架構進行調整，甚至其亦可針對非線性系統沒有受到輸出約束之情況進行輸出迴授有限時間穩定化之控制任務。透過有技巧性地將加冪積分技術及符號函數之運用結合形成適當的座標轉換，第一步我們利用一種類backstepping設計流程演化而成的兩步驟控制策略以解決高解非線性系統之狀態迴授穩定化控制問題。然而，因為本篇論文對於系統要求僅部分狀態可被量測，以全狀態迴授形成之控制器不再適用於本篇論文所探討之輸出迴授有限時間穩定化控制任務。因此，透過引入一個新的降階非平滑觀測器以及建構一個新的狀態，一種輸出迴授控制器設計方式得以被順利發展且估計不可量測狀態時所產生的誤差亦可被進一步消除。值得一提的是，本方法所需之相關觀測器增益函數可以在輸出回授穩定化控制器之系統化設計流程中獲得，成功解決了系統之輸出迴授穩定化控制任務；另一方面，關於閉迴路系統狀態之有限時間收斂特性可在經過計算驗證後被順利保證。本篇論文最後以一個二階系統作為模擬範例用以闡述本篇論文所提控制方法之有效性。

This thesis investigates the problem of output feedback finite-time stabilization for high-order nonlinear planar systems with an asymmetric output constraint and gives a unified approach consisting of the modified adding a power integrator technique, a fraction-type asymmetric barrier Lyapunov function (ABLF) and a reduced-order non-smooth observer. The unification property is in the sense that the controller constructed by our approach is applicable to controlled systems with symmetric-type or asymmetric-type output constraints, even when there is no constraint requirement on the system output. By skillfully merging the adding a power integrator technique and sign functions into an appropriate coordinate transformation, a two-step control manner has been developed to successfully achieve the state-feedback stabilization for high-order nonlinear planar systems in a backstepping-like design process as the first step. However, due to the restrict limitation that only the partial state is available/measurable, the designed full-state feedback stabilizer is no longer suitable for high-order nonlinear planar systems. Therefore, a novel reduced-order non-smooth observer is employed and a new state variable is produced to continue the output feedback stabilization task, which further furnishes a constructive design philosophy to eliminate the error stemming from only the partial state measurement. Moreover, a guidance to obtain the related observer gain function is also revealed in the systematic design process of the output feedback finite-time stabilizer. Afterwards, a step-by-step manner about how to ensure the finite-time convergence for state trajectories of the closed-loop system would be cautiously imparted. In the end, a planar system is utilized to illustrate the control effort of the presented approach.

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