IDEAS home Printed from https://ideas.repec.org/a/eee/matcom/v248y2026icp302-310.html

Finite-time residual compensation for control-affine nonlinear systems under input saturation and unmatched disturbances

Author

Listed:
  • Kim, Dowan

Abstract

This paper presents a Lyapunov-based residual-compensation method for control-affine nonlinear systems subject to actuator saturation and bounded unmatched disturbances. The commanded input is shaped by a projected super-twisting-inspired corrector that compensates for the dissipation loss and disturbance effect in the Lyapunov channel. A regularized command generator is combined with a discontinuous auxiliary correction term, yielding a well-posed Filippov closed-loop system. The resulting Lyapunov analysis guarantees finite-time entry into an inner recovery region and practical recovery of the nominal Lyapunov dissipation estimate in the presence of bounded unmatched disturbances. Under an additional local condition, asymptotic convergence is established. Numerical simulations verify that the nominal Lyapunov dissipation is recovered even under tight actuation limits, and that robust stabilization is simultaneously achieved.

Suggested Citation

  • Kim, Dowan, 2026. "Finite-time residual compensation for control-affine nonlinear systems under input saturation and unmatched disturbances," Mathematics and Computers in Simulation (MATCOM), Elsevier, vol. 248(C), pages 302-310.
    • Handle: RePEc:eee:matcom:v:248:y:2026:i:c:p:302-310
    DOI: 10.1016/j.matcom.2026.04.025
    as

    Download full text from publisher

    File URL: http://www.sciencedirect.com/science/article/pii/S0378475426001679
    Download Restriction: Full text for ScienceDirect subscribers only
    File URL: https://libkey.io/10.1016/j.matcom.2026.04.025?utm_source=ideas
    LibKey link: if access is restricted and if your library uses this service, LibKey will redirect you to where you can use your library subscription to access this item
    ---><---

    As the access to this document is restricted, you may want to

    for a different version of it.

    References listed on IDEAS

    as
    1. Jiang, Xiaowei & Zhang, Ni & Li, Bo & Zhang, Xianhe, 2023. "Impulsive consensus of nonlinear multi-agent systems with input and state saturation constraints," Chaos, Solitons & Fractals, Elsevier, vol. 174(C).
    2. Shi, Mengyao & Li, Lulu & Huang, Wei, 2026. "Local exponential stability of delayed nonlinear systems with actuator saturation under event/self-triggered impulsive control," Mathematics and Computers in Simulation (MATCOM), Elsevier, vol. 240(C), pages 862-876.
    3. Zhu, Chenhong & Li, Xiaodi & Wang, Kening, 2020. "An anti-windup approach for nonlinear impulsive system subject to actuator saturation," Chaos, Solitons & Fractals, Elsevier, vol. 133(C).
    4. Alasty, Aria & Salarieh, Hassan, 2007. "Nonlinear feedback control of chaotic pendulum in presence of saturation effect," Chaos, Solitons & Fractals, Elsevier, vol. 31(2), pages 292-304.
    5. Yau, Her-Terng & Chen, Chieh-Li, 2007. "Chaos control of Lorenz systems using adaptive controller with input saturation," Chaos, Solitons & Fractals, Elsevier, vol. 34(5), pages 1567-1574.
    6. Xiao, Yuzhu & Xie, Haohao & Zhao, Nannan, 2024. "Couple-group consensus of heterogeneous nonlinear multi-agent systems with cooperative–competitive interactions and input saturation," Chaos, Solitons & Fractals, Elsevier, vol. 179(C).
    7. Liu, Li-Juan & Chen, Shu-Yue & Karimi, Hamid Reza & Zhang, Zhao, 2024. "Stability analysis and stabilization of discrete-time switched nonlinear systems with mode-dependent average dwell time under nested actuator saturation," Chaos, Solitons & Fractals, Elsevier, vol. 188(C).
    8. Zwerger, Tanja & Mercorelli, Paolo, 2025. "Inner loop model predictive control and outer loop PI reference governor for PMSMs with input and state saturation for torque control," Mathematics and Computers in Simulation (MATCOM), Elsevier, vol. 228(C), pages 178-201.
    Full references (including those not matched with items on IDEAS)

    Most related items

    These are the items that most often cite the same works as this one and are cited by the same works as this one.
    1. Layeghi, Hamed & Arjmand, Mehdi Tabe & Salarieh, Hassan & Alasty, Aria, 2008. "Stabilizing periodic orbits of chaotic systems using fuzzy adaptive sliding mode control," Chaos, Solitons & Fractals, Elsevier, vol. 37(4), pages 1125-1135.
    2. Lu, Jiaqi & Qin, Kaiyu & Li, Meng & Lin, Boxian & Shi, Mengji, 2024. "Robust finite/fixed-time bipartite flocking control for networked agents under actuator attacks and perturbations," Chaos, Solitons & Fractals, Elsevier, vol. 180(C).
    3. Haghighatdar, F. & Ataei, M., 2009. "Adaptive set-point tracking of the Lorenz chaotic system using non-linear feedback," Chaos, Solitons & Fractals, Elsevier, vol. 40(4), pages 1938-1945.
    4. Xiao, Junwen & Liu, Yongchao, 2024. "Self-triggered consensus resilient control for multi-agent systems against sensor deception attacks based on a single parameter learning method," Chaos, Solitons & Fractals, Elsevier, vol. 189(P1).
    5. Salarieh, Hassan & Alasty, Aria, 2009. "Chaos control in an economic model via minimum entropy strategy," Chaos, Solitons & Fractals, Elsevier, vol. 40(2), pages 839-847.
    6. Yang, Jianping & Jing, Zhujun, 2009. "Controlling chaos in a pendulum equation with ultra-subharmonic resonances," Chaos, Solitons & Fractals, Elsevier, vol. 42(2), pages 1214-1226.
    7. Diao, Kaikai & Xu, Shihao & Deng, Wenzhe & Qian, Zhe & Zhang, Qian & Wu, Lijian & Wang, Qunjing, 2026. "Model predictive control of permanent magnet synchronous motors for electrified transportation: advances and perspectives," Renewable and Sustainable Energy Reviews, Elsevier, vol. 235(C).
    8. Wang, Jingya & Feng, Xiao & Yu, Yongbin & Wang, Xiangxiang & Werghi, Naoufel & Han, Xinyi & Zhou, Hanmei & Shi, Kaibo & Zhong, Shouming & Cai, Jingye & Tashi, Nyima, 2025. "Fuzzy actor–critic learning-based interpretable control and stability-informed guarantee with error mapping for discrete-time nonlinear system," Chaos, Solitons & Fractals, Elsevier, vol. 199(P3).
    9. Yang, Jianping & Jing, Zhujun, 2008. "Inhibition of chaos in a pendulum equation," Chaos, Solitons & Fractals, Elsevier, vol. 35(4), pages 726-737.
    10. Bonakdar, Mohammad & Samadi, Mostafa & Salarieh, Hassan & Alasty, Aria, 2008. "Stabilizing periodic orbits of chaotic systems using fuzzy control of Poincaré map," Chaos, Solitons & Fractals, Elsevier, vol. 36(3), pages 682-693.
    11. Belokolos, E.D. & Kharchenko, V.O. & Kharchenko, D.O., 2009. "Chaos in a generalized Lorenz system," Chaos, Solitons & Fractals, Elsevier, vol. 41(5), pages 2595-2605.
    12. Salarieh, Hassan & Alasty, Aria, 2008. "Stabilizing unstable fixed points of chaotic maps via minimum entropy control," Chaos, Solitons & Fractals, Elsevier, vol. 37(3), pages 763-769.
    13. Salarieh, Hassan & Alasty, Aria, 2009. "Chaos control in uncertain dynamical systems using nonlinear delayed feedback," Chaos, Solitons & Fractals, Elsevier, vol. 41(1), pages 67-71.
    14. Sarker Md. Sohel Rana & Md. Jasim Uddin & P. K. Santra & G. S. Mahapatra, 2023. "Chaotic Dynamics and Control of a Discrete‐Time Chen System," Mathematical Problems in Engineering, John Wiley & Sons, vol. 2023(1).
    15. Jin, Maolin & Chang, Pyung Hun, 2009. "Simple robust technique using time delay estimation for the control and synchronization of Lorenz systems," Chaos, Solitons & Fractals, Elsevier, vol. 41(5), pages 2672-2680.
    16. Li, Lulu & Li, Rongzhi & Liu, Yang & Wang, Lei, 2026. "Stabilizing reaction–diffusion neural networks: Overcoming Denial-of-Service attacks with state-dependent impulsive control strategies," Mathematics and Computers in Simulation (MATCOM), Elsevier, vol. 248(C), pages 765-780.
    17. Zhang, Yan & Chen, Shihua & Zhou, Hong, 2009. "Synchronizing the noise-perturbed Lü chaotic system," Chaos, Solitons & Fractals, Elsevier, vol. 40(5), pages 2475-2482.
    18. Song, Yanfen & Wang, Jin-Liang & Qu, Yawen & Xia, Chengyi, 2026. "Reinforcement learning and game-based optimal output consensus control for higher-order multi-agent systems with unknown dead-zone inputs," Chaos, Solitons & Fractals, Elsevier, vol. 208(P3).
    19. Qijia Yao & Hadi Jahanshahi & Stelios Bekiros & Jinping Liu & Abdullah A. Al-Barakati, 2023. "Fixed-Time Adaptive Chaotic Control for Permanent Magnet Synchronous Motor Subject to Unknown Parameters and Perturbations," Mathematics, MDPI, vol. 11(14), pages 1-14, July.
    20. He, Xinyi & Liu, Chang & Li, Xiaodi, 2024. "A practical leader–follower hybrid control scheme for wheeled mobile robots," Chaos, Solitons & Fractals, Elsevier, vol. 184(C).

    More about this item

    Keywords

    ;
    ;
    ;
    ;
    ;

    Statistics

    Access and download statistics

    Corrections

    All material on this site has been provided by the respective publishers and authors. You can help correct errors and omissions. When requesting a correction, please mention this item's handle: RePEc:eee:matcom:v:248:y:2026:i:c:p:302-310. See general information about how to correct material in RePEc.

    If you have authored this item and are not yet registered with RePEc, we encourage you to do it here. This allows to link your profile to this item. It also allows you to accept potential citations to this item that we are uncertain about.

    If CitEc recognized a bibliographic reference but did not link an item in RePEc to it, you can help with this form .

    If you know of missing items citing this one, you can help us creating those links by adding the relevant references in the same way as above, for each refering item. If you are a registered author of this item, you may also want to check the "citations" tab in your RePEc Author Service profile, as there may be some citations waiting for confirmation.

    For technical questions regarding this item, or to correct its authors, title, abstract, bibliographic or download information, contact: Catherine Liu (email available below). General contact details of provider: http://www.journals.elsevier.com/mathematics-and-computers-in-simulation/ .

    Please note that corrections may take a couple of weeks to filter through the various RePEc services.

    IDEAS is a RePEc service. RePEc uses bibliographic data supplied by the respective publishers.