Semi-Global Finite-Time Output-Feedback Stabilization with an Application to Robotics

Zhi Liang Zhao, Zhong Ping Jiang

Research output: Contribution to journalArticlepeer-review


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 Hölder 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.

Original languageEnglish (US)
Article number8392536
Pages (from-to)3148-3156
Number of pages9
JournalIEEE Transactions on Industrial Electronics
Issue number4
StatePublished - Apr 2019


  • Finite-time stability
  • output feedback stabilization
  • robotic systems

ASJC Scopus subject areas

  • Control and Systems Engineering
  • Electrical and Electronic Engineering


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