Finite and fixed-time stabilization of discrete-time systems using passivity-based control

Abstract

In this paper, we propose a new passivity-based controller design technique for discrete-time fully actuated systems. The controller establishes finite-time and fixed-time convergence of dynamical system trajectories to an equilibrium state. A new form of a dissipation function, selected a priori, is introduced to design a feedback control rule to achieve such convergence properties. An energy shaping and damping injection methodology is extended to achieve non-asymptotic stabilization. A numerical example to validate the proposed methods is provided. © 2024 John Wiley & Sons Ltd.