Adaptive pre-assigned finite-time control of uncertain nonlinear systems with unknown control gains

Abstract

This paper mainly studies an adaptive finite-time control problem for a kind of uncertain strict feedback systems with unknown control gains. First, the original strict-feedback system is transformed into a pure-feedback system. And then, we propose a modified adaptive finite-time design idea on the basis of the property of pre-assigned finite-time function (PFTF) and Nussbaum gain. The designed controller can make sure that all states converge to an arbitrarily region in finite-time and signals in the closed-loop system are finite-time bounded. Moreover, the presented controller is smooth and the settling time does not rely on the initial values and design parameters. Finally, the simulation study is made to illustrate the innovativeness for the proposed scheme.