Adaptive finite-time stabilisation of a class of high-order nonlinear systems with inverse dynamics

Shipei Huang and Zhengrong Xiang

International Journal of Systems Science, 2017, vol. 48, issue 11, 2321-2332

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.

Date: 2017
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DOI: 10.1080/00207721.2017.1317878

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