📝 SummarXiv

Abstract

This study presents a novel, continuous finite-time control strategy for a class of nonlinear systems subject to matched uncertainties with unknown bounds. We propose an Adaptive Disturbance Observer-based Full-order Integral-Terminal Sliding Mode Control (ADO-FOITSMC) to stabilize a chain of integrators in presence of exogenous disturbances whose time derivative is bounded by a constant that is not known a priori. Key features of this approach include a significant reduction in control input chattering and a non-monotonic adaptive law for the observer gains, which prevents overestimation while ensuring the global boundedness of system states. The effectiveness and practical viability of the proposed algorithm are demonstrated through its application to the attitude stabilization of a rigid spacecraft.