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Finite-time residual compensation for control-affine nonlinear systems under input saturation and unmatched disturbances

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  • Kim, Dowan

Abstract

This paper presents a Lyapunov-based residual-compensation method for control-affine nonlinear systems subject to actuator saturation and bounded unmatched disturbances. The commanded input is shaped by a projected super-twisting-inspired corrector that compensates for the dissipation loss and disturbance effect in the Lyapunov channel. A regularized command generator is combined with a discontinuous auxiliary correction term, yielding a well-posed Filippov closed-loop system. The resulting Lyapunov analysis guarantees finite-time entry into an inner recovery region and practical recovery of the nominal Lyapunov dissipation estimate in the presence of bounded unmatched disturbances. Under an additional local condition, asymptotic convergence is established. Numerical simulations verify that the nominal Lyapunov dissipation is recovered even under tight actuation limits, and that robust stabilization is simultaneously achieved.

Suggested Citation

  • Kim, Dowan, 2026. "Finite-time residual compensation for control-affine nonlinear systems under input saturation and unmatched disturbances," Mathematics and Computers in Simulation (MATCOM), Elsevier, vol. 248(C), pages 302-310.
    • Handle: RePEc:eee:matcom:v:248:y:2026:i:c:p:302-310
    DOI: 10.1016/j.matcom.2026.04.025
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