Finite-time output feedback stabilisation for a class of feedforward nonlinear systems with input saturation

This paper considers the problem of global finite-time stabilisation by output feedback for a class of feedforward (upper triangular) nonlinear systems with input saturation. Based on the finite-time stability theorem, and by skillfully using the homogeneous domination approach and the nested saturation technique, a saturated output feedback controller is successfully constructed, which renders the origin of the closed-loop system globally finite-time stable. In simulation studies, a numerical example is illustrated to show the effectiveness of the control scheme. Moreover, the design strategy is successfully applied to solve the saturated finite-time control problem for vertical wheel on rotating table.