The ESO-based FTCG (ESOFTCG) laws in , however, still have limitation: ESO cannot guarantee the estimation error fully converges to zero when the target acceleration is time-varying.
And then a novel FTCG law is designed based on the output of AFDO.
(2) The proposed FTCG law is strictly finite-time convergent in the presence of time-varying target acceleration.
Then, a AFDO-based FTCG law is proposed, and the finite-time stability of the law is also obtained.
If S = 0 can be satisfied in finite time, the objective of FTCG will be achieved .
Thus the requirement of FTCG cannot be guaranteed by the FTCG law (10) if the varying rate g(t) is very large (in Section 4 of this paper, the simulation result also demonstrates that the performance of existing ESOFTCG law is poor when the target acceleration is fast time-varying).
After estimating the target acceleration with AFDO, a novel FTCG law is designed as follows:
From the result of Theorem 7, it is clear that the problem that ESOFTCG law (10) cannot strictly guarantee S converge to zero is solved by the proposed AFDO-based FTCG law.