Finite-Time Stability for a Class of Underactuated Systems Subject to Time-Varying Disturbance

Abstract EN

Based on the classical finite-time stability theory, the problem of finite-time stability (FTS) for time-varying nonlinear systems is investigated in this paper.

Several FTS theorems involving global form and local form are presented, and an estimate of the settling-time of such systems is obtained.

As an application, we consider the problem of asymptotic stabilization of the Brockett integrator subject to time-varying disturbance.

By the switched finite-time controller design methodology, we establish a sufficient condition to guarantee the relative asymptotic stability.

For Brockett-like integrator subject to time-varying disturbance, we achieve better convergence performance.

Examples and their simulations are given to demonstrate the applicability of the proposed results.