Observer-Based Output Feedback Stabilization for Perturbed Second-Order Uncertain System with Finite-Time Convergence

In this paper, an observer-based output feedback control scheme is proposed for uncertain second-order nonlinear systems with bounded external disturbance. The control design is achieved in two main steps. The first step is devoted to the design of a finite-time control law driving the nonlinear systems without external disturbance converge the origin in a finite time. In the second step, an extended state observer is constructed to estimate the unmeasured states and external disturbance in a finite time, in which the stabilization task is fulfilled by combing this observer and previous control law. The Lyapunov function is used to proof the finite-time stability of the closed-loop system. Finally, simulation results are provided to illustrate the effectiveness of the proposed control strategy.