Finite-time Control Using Locally Semiconcave Control Lyapunov Function

Abstract

Finite-time control is a control method that guarantees convergence rate. However, it is difficult to design control law based on a homogeneous Lyapunov function. In this paper, we propose a finite-time control method that relaxes the difficulty of construction by using locally semiconcave control Lyapunov function. The effectiveness of the proposed controller is confirmed by computer simulation for nonlinear system.