FINITE-TIME STABILIZATION OF NONLINEAR UNCERTAIN MIMO SYSTEMS.

The finite-time stabilization problem is considered for a class of multi-input multioutput nonlinear systems composed of several different subsystems that are coupled with unknown nonlinearities, possibly superlinear and nonvanishing at the origin. A novel decentralized, continuous finite-time output-feedback control algorithm is presented by dynamically compensating the unknown nonlinear couplings and applying a saturation technique. A crucial strategy is to estimate the uncertain nonlinearities and the unmeasured state by means of a finite-time extended state observer. The effectiveness of the proposed decentralized finite-time output-feedback design is validated by rigorous mathematical analysis and numerical simulations. [ABSTRACT FROM AUTHOR]