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This paper designs the active disturbance rejection control (ADRC) to achieve finite-time stabilization for a class of uncertain nonlinear systems. The proposed control incorporates both an extended state observer (ESO) as well as an adaptive sliding mode controller. The ESO is utilized to estimate the full system states and the total uncertainties, and the adaptive strategy is incorporated to deal with the estimation errors. It is proved that, with the application of the proposed control law, semi-global finite-time stabilization can be achieved. Effectiveness of the proposed method is illustrated with a numerical example.

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