Observer-based finite-time robust control of nonlinear time-delay uncertain systems with different power Hamiltonian function

Abstract

Using the Hamiltonian function method with different powers, this paper studies the observer-based finite-time robust control problem of general nonlinear uncertain systems with time delay and presents some new results on this issue. First, by applying Hamiltonian realization method, the paper develops an equivalent Hamiltonian form of original system and designs its observer system. Then, based on the observer system, we study finite-time control problem and present several finite-time stabilization and finite-time robust stabilization results by using the augmented technology and the Lyapunov method. Finally, a real unmanned vehicle is used to verify the performance of the observer-based finite-time robust stabilization controller. Different from the existing literature on Hamiltonian method, the Hamiltonian function in the paper has different powers, which implies that the results developed in the paper have a wider range of application.