Abstract
This paper proposes a robust finite-time backstepping control scheme using a nonlinear disturbance observer for uncertain single-input single-output (SISO) full-order strict-feedback nonlinear systems, in which the dynamics are partially known. To improve the convergence time and robustness of the conventional backstepping control, a new finite-time control method is proposed to estimate uncertainties that appear in each step of the controller design based on the finite-time virtual tracking errors and a nonlinear disturbance observer. The finite-time virtual controls and control input are derived by using the finite-time Lyapunov stability criterion. Simulation results for example of a strict-feedback SISO nonlinear system confirm that the proposed control scheme exhibits better performance than a conventional backstepping control scheme.
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