Logic-based switching finite-time stabilization with applications in mechanical systems (2001.11200v8)

Abstract: 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.