Finite-Time Optimal Control for a Class of Lower-Triangular Nonlinear Systems

In this paper, the finite-time optimal control problem is investigated for a class of nonlinear lower-triangular systems. In the control design process, based on the Lyapunov function and adding a power integrator method, a control law is designed to make the nonlinear lower-triangular systems locally finite-time stability. Under the nested saturation control technique, the nonlinear lower-triangular systems is globally finite-time stabilization by adjusting the saturation. Then, according to the basic idea of optimization, the proposed control method can make the cost function be minimized by selecting the appropriate parameters in the controller, and achieves the goal of control optimality. Finally, a simulation example is provided to show the effectiveness of the presented control method.