Adaptive finite-time stabilisation of high-order uncertain nonlinear systems

This paper studies the problem of finite-time stabilisation of more general high-order nonlinear systems with dynamic and parametric uncertainties. By characterising the unmeasured dynamic uncertainty with finite-time input-to-state stability (FTISS), skillfully combining Lyapunov function, sign function, backstepping, adaptive control and FTISS approaches, and using finite-time stability theory, an adaptive state feedback controller is designed to guarantee high-order uncertain nonlinear systems globally finite-time stable.