1 research outputs found
Finite time stabilization for nonlinear systems with unknown control directions and unstructured uncertainties (Extended version)
This paper investigates the finite time stabilization problem for a class of
nonlinear systems with unknown control directions and unstructured
uncertainties. The unstructured uncertainties indicate that not only the
parameters but also the structure of the system nonlinearities are uncertain.
The contributions are mainly in the following two aspects: First, a new
adaptive control method is proposed for the considered system. Logic-based
switching rule is utilized to tune the controller parameters online to
stabilize the system in finite time. Different from the existing adaptive
controllers for structured/parametric uncertainties, a new switching barrier
Lyapunov method and supervisory functions are introduced to overcome the
obstacles caused by unstructured uncertainties and unknown control directions.
Second, based on a time-varying backstepping scheme, an extension is made to
the proposed method such that all the system states can be regulated to zero in
prescribed finite time. Moreover, a new analysis tool is presented to show the
boundedness of the control signals. Simulations are conducted to verify the
effectiveness of the proposed methods.Comment: 33 pages, 8 figure