Observer-based finite-time robust control for nonlinear systems with different power Hamiltonian functions

Abstract

This work uses the Hamiltonian function approach to investigate the observer-based finite-time robust control problem of a broad nonlinear system and presents various new results. To begin, the Hamiltonian technique is used to convert the original system to its equivalent form, and then the observer system is designed. Afterward, utilizing the technology and the Lyapunov method, we investigate the finite-time control issue and give several finite-time stabilization results based on the observer method. Finally, a real unmanned vehicle is used to verify the performance of the observer-based finite-time robust stabilization controller. Different from the existing literature on the Hamiltonian method, the Hamiltonian function in this article has different powers, which implies that the results developed in this article have a wider range of application.