Finite-time stability for a class of underactuated systems subject to time-varying disturbance (Q2185073)

Summary: Based on the classical finite-time stability theory, the problem of finite-time stability ( \textit{FTS}) for time-varying nonlinear systems is investigated in this paper. Several \textit{FTS} theorems involving global form and local form are presented, and an estimate of the settling-time of such systems is obtained. As an application, we consider the problem of asymptotic stabilization of the Brockett integrator subject to time-varying disturbance. By the switched finite-time controller design methodology, we establish a sufficient condition to guarantee the relative asymptotic stability. For Brockett-like integrator subject to time-varying disturbance, we achieve better convergence performance. Examples and their simulations are given to demonstrate the applicability of the proposed results.