Adaptive finite‐time control for high‐order nonlinear systems with mismatched disturbances

Abstract

In this paper, adaptive finite-time control is addressed for a class of high-order nonlinear systems with mismatched disturbances. An adaptive finite-time controller is designed in which variable gains are adjusted to ensure finite-time stabilization for the closed-loop system. Chattering is reduced by a designed adaptive sliding mode observer which is also used to deal with the mismatched disturbances in finite time. The proposed adaptive finite-time control method avoids calculating derivative repeatedly of traditional backstepping methods and reduces computational burden effectively. Three numerical examples are given to illustrate the effectiveness of the proposed method. KEYWORDS adaptive control, finite-time control, high-order nonlinear systems, mismatched disturbances, sliding mode observers 1 1296

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