GLOBAL UNIFORM FINITE-TIME OUTPUT FEEDBACK STABILIZATION FOR DISTURBED NONLINEAR UNCERTAIN SYSTEMS: BACKSTEPPING-LIKE OBSERVER AND NONSEPARATION PRINCIPLE DESIGN.

This paper investigates the problem of global uniform finite-time output feedback stabilization for a class of generalized disturbed high-order nonlinear uncertain systems. The presence of nonlinear uncertainties and unknown disturbances makes it challenging to design a state observer and an output feedback controller. To address this problem, a new technique of output feedback design is proposed. Firstly, based on a backstepping-like method, a finite-time extended state observer (FT-ESO) is constructed to estimate the unmeasured states and unknown disturbances of the system. Then, utilizing the nonseparation principle and disturbance-estimation--compensation method, a continuous output--based finite-time active anti-disturbance control (FT-AADC) method is developed by integrating the finite-time state feedback controller with the proposed FT-ESO. The global uniform finite-time stability of the entire observer-control system is proven using Lyapunov theory. Simulation results are provided to demonstrate the effectiveness of the proposed method. [ABSTRACT FROM AUTHOR]