A Lyapunov approach to Robust and Adaptive finite time stabilization of integrator chains with bounded uncertainty

Abstract

In this paper, we present Lyapunov-based robust and adaptive controllers for the finite time stabilization of a perturbed chain of integrators with bounded uncertainties. The proposed controllers can be designed for integrator chains of any arbitrary length. The uncertainty bounds are known in the robust control problem whereas they are unknown in the adaptive control problem. Both controllers are developed from a class of finite time stabilization controllers for pure integrator chains. Lyapunov-based design permits to calculate upper bound on convergence time.