Adaptive finite-time stabilisation of a class of high-order nonlinear systems with inverse dynamics. Issue 11 (18th August 2017)

• Record Type: Journal Article
• Authors: Huang, Shipei; Xiang, Zhengrong
• Is Part Of: International journal of systems science. Volume 48:Issue 11(2017)
• Page Start: 2321
• Page End: 2332
• Publication Date: 2017-08-18
• Subjects: Finite-time stability -- unknown parameters -- nonlinear systems -- inverse dynamics -- adaptive control; System analysis -- Periodicals; 003.3
• DOI: 10.1080/00207721.2017.1317878
• Languages: English
• ISSNs: 0020-7721

Abstract

ABSTRACT: This paper investigates the adaptive finite-time stabilisation of a class of high-order nonlinear systems with inverse dynamics and time-varying control coefficients. Under the assumptions that the inverse dynamics of the subsystem are input-to-state stable, and nonlinear terms depend upon the inverse dynamics, the states and unknown parameters, we present a systematic design procedure for an adaptive finite-time state-feedback control law by using a recursive design approach. It is shown that under the proposed adaptive control law, the state of the closed-loop system is finite-time convergent. Two examples are provided to show the effectiveness of the proposed method.