Finite-Time Robust Stabilization for a Class of High-Order Nonlinear Systems with Multiple Uncertainties and External Disturbances

The paper investigates the problem of adaptive finite-time robust stabilization for a set of high-order uncertain nonlinear systems in the presence of asymmetric output constraint, dynamic uncertainty and complicated external disturbances. Via effectively integrating the artful Barrier Lyapunov Function (BLF) in conjunction with the continuous control armed with a serial of integral functions consisting of embedded sign operations, a continuous controller is generated, which promises that the closed-loop system's states converge to a compact set within finite time whilst preserving the validity of the output constraint. Preferable to the current techniques, the suggested methodology unifies the construct and theoretical evaluation for the constrained and unconstrained output as well as being able to concurrently handle the output asymmetric constraints, zero dynamics and complex external disturbances. Finally, an instance of simulation is included to illustrate the validity of the established methodology.