Disturbance Observer-Based Finite-Time Tracking Control for a Class of Second-Order Nonlinear Systems with Mismatched and Matched Uncertainties

This paper investigates the tracking control problem for a class of second-order nonlinear systems with mismatched and matched uncertainties. The lumped unknown uncertainties of the different channels of the system are estimated by the proposed barrier function-based disturbance observers. On this basis, combined with the idea of backstepping control, a finite-time tracking control strategy is developed. The Lyapunov stability theory proves the stability and convergence of the closed-loop system. Numerical simulations verify the theoretical derivation. Finally, the performance advantages of the proposed method are shown by comparing it with other methods.