Finite-Time Adaptive Control of Nonlinear Systems and Its Applications

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The proposed research program will investigate the finite-time adaptive control problem for a class of nonlinear systems described by both ordinary differential equations and differential-algebraic equations and its applications to control of mobile robots. In particular, the problems in consideration include finite-time stabilization, finite-time tracking, finite-time disturbance attenuation, finite-time adaptive control, and finite-time fault-tolerant control. Most of the available techniques for feedback control lead to closed-loop systems with solutions converging to the desired location within an infinite settling time. However, from a practical point of view, the shorter the settling time, the better. As a matter of fact, most of real systems require that the design requirements should be satisfied in a finite time. Therefore, even though finite-time control problems are much harder to be solved than traditional control problems, they are more important practically and have attracted more and more attention in recent decades.