Summary: In this article, the global finite-time adaptive control problem is considered for high-order nonlinear systems in the presence of unknown control coefficients, actuator fault, and external disturbance. Different from the previous results, a tune parameter is introduced to directly compensate the unknown control coefficients rather than the traditional Nussbaum-gain function. Without requiring a priori knowledge of the uncertainties, a switching-type adaptive controller is proposed by adding a power integrator method. Based on the modified switching mechanism, the controller parameter can be tuned online such that global finite-time stability can be achieved. Finally, a simulation example combined with comparison is provided to verify the effectiveness of the proposed method.
{© 2020 The Authors. International Journal of Robust and Nonlinear Control published by John Wiley & Sons Ltd.}