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This paper investigates finite-time stabilization of a class of non-affine nonlinear systems with time-varying output constraints, input saturation, and unknown disturbance. Without loss of accuracy, an approximation method is employed to convert the non-affine nonlinear system to an affine-like expression. A novel adaptive terminal sliding mode disturbance observer is proposed to enhance system robustness by estimating unknown compound disturbances in finite time, including external disturbances and system uncertainties. A time-varying barrier Lyapunov function is applied to ensure that constraints are not violated. Backstepping-based controllers are designed to drive tracking errors to zero in finite time. Simulation results demonstrated the effectiveness of the proposed control technique.

Finite-Time Stabilization for a Class of Non-Affine Nonlinear Systems With Input Saturation and Time-Varying Output Constraints