Finite-time controller design of multiple integrator nonlinear systems with input saturation

This paper has developed a finite-time controller design for a category of multiple integrator nonlinear systems subject to input saturation. First of all, an unsaturated finite-time controller is constructed without considering input saturation. On this basis, by combining the saturation technique, a saturated controller is presented to finite-time stabilize the closed-loop system and to guarantee no transgression of pre-set input saturation. In simulation studies, an academic example is given to confirm the validity of the proposed approach. Moreover, the presented theoretical results are successfully applied to the saturated finite-time control of an agricultural vehicle straight-line tracking system (AVSTS).