Abstract
A continuous output feedback control scheme is presented for double integrator systems subject to non-vanishing perturbation. In the method, no explicit state observer or disturbance observer is designed. The geometric homogeneity technique and Lyapunov stability theory are utilized to ensure the global finite-time stability of the closed-loop system. The extension of the algorithm to multi-input multi-output is developed, and its application in quadrotor unmanned aerial vehicles is investigated. Finally, the numerical simulation results are provided to validate the efficiency of the proposed method.
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