In this article, the global finite‐time adaptive control problem is considered for high‐order nonlinear systems in the presence of unknown control coefficients, actuator fault, and external disturbance. Different from the previous results, a tune parameter is introduced to directly compensate the unknown control coefficients rather than the traditional Nussbaum‐gain function. Without requiring a priori knowledge of the uncertainties, a switching‐type adaptive controller is proposed by adding a power integrator method. Based on the modified switching mechanism, the controller parameter can be tuned online such that global finite‐time stability can be achieved. Finally, a simulation example combined with comparison is provided to verify the effectiveness of the proposed method.

中文翻译：

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具有未知控制系数和执行器故障的高阶非线性系统的有限时间自适应控制

在本文中，对于存在未知控制系数，执行器故障和外部干扰的高阶非线性系统，将考虑全局有限时间自适应控制问题。与先前的结果不同，引入了一种调整参数来直接补偿未知的控制系数，而不是传统的Nussbaum增益函数。在不需要先验不确定性的前提下，通过添加功率积分器方法提出了一种开关型自适应控制器。基于修改后的切换机制，可以在线调整控制器参数，从而实现全局有限时稳定性。最后，通过仿真实例与比较相结合，验证了所提方法的有效性。