Finite-time output feedback stabilization of lower-triangular nonlinear systems

• Autores: Zhi-Liang Zhao, Zhong-Ping Jiang
• Localización: Automatica: A journal of IFAC the International Federation of Automatic Control, ISSN 0005-1098, Nº. 96, 2018, págs. 259-269
• Idioma: inglés
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• Resumen

  • The finite-time stabilization of a general class of lower-triangular nonlinear systems using output feedback is addressed in this paper. The system nonlinearities are only required to be Hölder continuous with output-dependent Hölder coefficients. A new constructive output-feedback, finite-time controller design is proposed based on a finite-time observer. Rigorous finite-time stability analysis is given for the closed-loop observer–controller system. A practical example of controlling a robotic model is adopted to illustrate the proposed method.