A Lyapunov approach to Robust and Adaptive finite time stabilization of integrator chains with bounded uncertainty

In this paper, we present Lyapunov-based robust and adaptive controllers for finite time stabilization of a perturbed chain of integrators with bounded. The proposed controllers can be designed for integrator chains any arbitrary length. The uncertainty bounds are known in the robust control whereas they are unknown in the adaptive control problem. Both are developed from a class of finite time stabilization controllers pure integrator chains. Lyapunov-based design permits to calculate upper on convergence time.