Finite-time regulation of fully-actuated euler-lagrange systems without velocity measurements

Motivated by the energy-shaping framework and properties of homogeneous systems, we identify in this paper a class of Euler-Lagrange systems which can be globally finite-time stabilized via dynamic output feedback. In particular, we focus on fully-actuated systems. Global output feedback finite-time regulation is studied for the unconstrained and constrained control signals, which incorporate some suitable nonlinear functions in its structure. The class of controllers is described by the gradient of an artificial potential energy plus the gradient of (nonlinear) energy dissipation-like functions.