Journal
IEEE TRANSACTIONS ON INDUSTRIAL ELECTRONICS
Volume 66, Issue 4, Pages 3148-3156Publisher
IEEE-INST ELECTRICAL ELECTRONICS ENGINEERS INC
DOI: 10.1109/TIE.2018.2847630
Keywords
Finite-time stability; output feedback stabilization; robotic systems
Categories
Funding
- National Natural Science Foundation of China [61403242]
- Natural Science Research Program of Shaanxi Province-Key Program [2016JZ023]
- Fundamental Research Funds for the Central Universities [GK201702013]
- National Science Foundation [ECCS-1501044]
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The continuous finite-time stabilization of a broad class of lower-triangular nonlinear systems using output feedback is studied in this paper. The nonlinearities are only assumed to be Holder continuous. A constructive, continuous, finite-time, output-feedback stabilizer design is proposed based on a finite-time observer. Rigorous finite-time stability analysis is carried out for the closed-loop observer-controller system. The proposed design method is applied to a single-link robotic manipulator coupled to a dc motor.
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