A Simple Unified Control for Output Feedback Finite-Time Stabilization of Uncertain Planar Systems Without Controllable/Observable Linearization

摘要

This brief revisits the problem of output feedback robust finite-time stabilization of a class of uncertain planar systems without controllable/observable linearization. A simple unified output feedback nonsmooth proportional-derivative (PD) control is proposed. Finite-time stability is proven by Lyapunov's theory and geometric homogeneity. Advantages of the proposed control include the velocity-free finite-time stability featuring fast transient and high steady-state positioning and the high robustness against uncertainties. The proposed control can be applied to a large class of nonlinear uncertain second-order systems for finite-time stabilization by output feedback.