Abstract
This paper presents a novel adaptive finite-time control (AFTC) method for a class of uncertain nonlinear systems. First, a new nonsingular terminal sliding mode surface is proposed. Then an adaptive finite-time controller with proper adaptive laws is designed to guarantee the occurrence of the sliding motion in finite time without prior knowledge of the upper bounds of the uncertainties and external disturbances. The globally finite-time stability of the closed-loop system is analytically proven. The numerical simulation results are presented to illustrate the effectiveness of the proposed method.
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