In this paper, the problem of finite-time tracking for nth-order uncertain nonlinear systems with unmatched uncertainties is addressed. Using a terminal synergetic manifold, a controller is provided to force the tracking error to the origin in finite time in the presence of unmatched uncertainties. With this method, chattering problem is completely removed without defining a new function. Lyapunov theory is used to prove the stability of the proposed method. The proposed controller provides the convergence of finite-time tracking error to zero by suitable performance that is theoretically analysed and proved through simulation.

中文翻译：

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一类具有不确定性的非线性系统的有限时间终端协同控制

本文研究了具有不确定性的n阶不确定非线性系统的有限时间跟踪问题。使用终端协同歧管，提供了一个控制器，可在存在不确定性不确定性的情况下，在有限的时间内将跟踪误差强制到原点。使用此方法，无需定义新功能即可完全消除抖动问题。利用李雅普诺夫理论证明了该方法的稳定性。所提出的控制器通过适当的性能将有限时间的跟踪误差收敛到零，该性能经过理论分析和仿真验证。