Finite-time adaptive robust control

This paper presents a finite-time control strategy for uncertain systems with unknown time-invariant parameters. The finite-time adaptive robust controller is designed via Lyapunov approach, where projection-type integral and incremental adaptation laws are applied in estimation of the time-invariant parametric uncertainties, respectively. The terminal attractor is suggested in the adaptive robust controller, and with the proposed control schemes, the finite time convergence can be realized. The bounded error convergence result is obtained in the presence of disturbances. Otherwise, the zero-error convergence can be achieved. The numerical results demonstrate the effectiveness of the proposed control schemes.