Global adaptive finite-time control for uncertain nonlinear systems with actuator faults and unknown control directions

摘要

In this paper, the global adaptive finite-time stabilization problem is investigated for a class of uncertain nonlinear systems with actuator faults and unknown control directions. The lower bounds of the actuation effectiveness, the upper bounds of the disturbance and the stuck faults are not required to be known a prior. By adopting adding a power integrator technique, a switching-type adaptive finite-time controller is designed and a modified switching mechanism is also proposed. It is proven that the global finite-time stability can be guaranteed by the proposed controller. A simulation example is provided to verify the effectiveness of the proposed method.