Fast finite‐time stabilization of stochastic nonlinear systems with output constraints and an application to single‐link robot

Abstract

Abstract This article studies the fast finite‐time stabilization problem for stochastic nonlinear systems with asymmetric output constraints. To address the issue of slow convergence encountered in previous finite‐time control designs of stochastic nonlinear constrained systems, this paper extends the fast finite‐time stabilization mechanism to such systems. First, a novel asymmetric barrier Lyapunov function is employed to tackle the output constraint. Then, by adding a power integrator technique and the barrier Lyapunov function, a state‐feedback controller for stochastic nonlinear systems is explicitly designed using the backstepping method. The designed controller achieves fast finite‐time stability in probability of the stochastic nonlinear system while ensuring no violation of the output constraints. Finally, two examples are presented to demonstrate the effectiveness of the controller scheme.