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

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.

KEYWORDS:

• Finite-time stability
• unknown parameters
• nonlinear systems
• inverse dynamics
• adaptive control

Disclosure statement

No potential conflict of interest was reported by the authors.

Additional information

Funding

This work was supported by the National Natural Science Foundation of China [grant number 61273120].