Variable Convergence Rate Control of High-Order Nonlinear Impulsive Systems: A Fully Actuated System Approach

This paper investigates the variable convergence rate stability of high-order nonlinear impulsive systems. 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 condition is derived for high-order nonlinear impulsive systems based on the fully actuated system (FAS) approach. Finally, the validity and feasibility of the method are verified by numerical simulations of a single-link flexible joint robotic system.