@article{95bf2436ee4a408d8314850613e86268,
title = "Semi-Global Finite-Time Output-Feedback Stabilization with an Application to Robotics",
abstract = "The continuous finite-time stabilization of a broad class of lower-triangular nonlinear systems using output feedback is studied in this paper. The nonlinearities are only assumed to be H{\"o}lder continuous. A constructive, continuous, finite-time, output-feedback stabilizer design is proposed based on a finite-time observer. Rigorous finite-time stability analysis is carried out for the closed-loop observer-controller system. The proposed design method is applied to a single-link robotic manipulator coupled to a dc motor.",
keywords = "Finite-time stability, output feedback stabilization, robotic systems",
author = "Zhao, {Zhi Liang} and Jiang, {Zhong Ping}",
note = "Funding Information: Manuscript received March 13, 2018; revised May 11, 2018; accepted June 3, 2018. Date of publication June 21, 2018; date of current version November 30, 2018. This work was supported in part by the National Natural Science Foundation of China under Grant 61403242, in part by the Natural Science Research Program of Shaanxi Province-Key Program under Grant 2016JZ023, in part by the Fundamental Research Funds for the Central Universities under Grant GK201702013, and in part by the National Science Foundation under Grant ECCS-1501044. (Corresponding author: Zhi-Liang Zhao.) Z.-L. Zhao is with the School of Mathematics and Information Science, Shaanxi Normal University, Xi{\textquoteright}an 710119, China (e-mail: zhiliangzhao@ snnu.edu.cn). Publisher Copyright: {\textcopyright} 2018 IEEE.",
year = "2019",
month = apr,
doi = "10.1109/TIE.2018.2847630",
language = "English (US)",
volume = "66",
pages = "3148--3156",
journal = "IEEE Transactions on Industrial Electronics",
issn = "0278-0046",
publisher = "IEEE Industrial Electronics Society",
number = "4",
}