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Global finite time control for a class of time-varying third-order

system
SUN Haibin, LI Shihua
School of Automation, Southeast University, Nanjing, 210096, P. R. China
Key Laboratory of Measurement and Control of CSE, Ministry of Education
E-mail: seusunhaibin@gmail.com, lsh@seu.edu.cn

Abstract: This paper concerns the problem of finite time feedback stabilization for a class of time-varying third-order system.
Using back-stepping constructive approach based on finite time Lyapunov function, a new finite time feedback controller is
designed. And the corresponding stability analysis is given. Simulation result is given to show the effectiveness of the proposed
method finally.

Key Words: time-varying system, finite time control, finite time stability, state feedback

1 INTRODUCTION
The object of finite time control is to make system states
reach their targets in finite time. Finite time stability implies
finite time convergence and Lyapunov stability [1]. Finite
time stable systems have some good advantages: faster con-
vergence properties around the equilibrium point and better
disturbance rejection performance than conventional asymp-
totically stable systems [1]. Recently, finite time stability
and stabilization have received more and more attention.
Many control methods have been developed to obtain fi-
nite time controller, for example, homogeneous system ap-
proach [2–4], back-stepping constructive method based on
finite time Lyapunov function [5–7], and terminal sliding
mode technology [8, 9].
By virtue of finite time stability theorem [2], the problem
of finite time stabilization has been considered for kinds of
systems. For instance, finite time controllers has been devel-
oped in [1, 10, 11] for the second-order systems. For high-
order system, in [6], the author has discussed the problem of
finite time stabilization for a chain of power-integrators and
a generalized class of nonlinear systems using constructive
method. Global finite time stabilization has been studied for
a class of nonlinear systems in normal form without paramet-
ric uncertainty and with parametric uncertainty in [12, 13],
respectively. In [14], the global finite-time stabilizability of
uncertain nonlinear systems dominated by a lower-triangular
system has been achieved by Hölder continuous state feed-
back. In [15], an extended finite time controller has been
derived for uncertain nonlinear systems with a lower triangu-
lar structure, which may provide a faster convergence speed
than the controller in [14]. In [16], an explicit finite time
controller has been presented by constructive method and the
control gains selection has also discussed for a class of third-
order system. A finite time stabilization problem is consid-
ered for a class of cascade system in [17].
In this paper, the problem of finite time control is fur-
ther considered for a class of time-varying third-order sys-
tem. An explicit finite time controller is presented by com-
bining [15] with the generalized adding a power integrator
This work is supported by National Natural Science Foundation of
China (61074013), New Century Excellent Talents in University (NCET-
10-0328), Specialized Research Fund for the Doctoral Program of Higher
Education of China (20090092110022).
method [18]. The controller gains selection for the time-
varying third-order finite-time controller is given by a rig-
orous proof. An example is employed to demonstrate the
effectiveness of the proposed method.
2 Preliminaries
First, some important lemmas are presented, which will play
an important role in this study.
Lemma 1 [19]. Consider the following system
ẋ = f (x), f (0) = 0, x ∈ R. (1)
Suppose there exists a continuous function V (x) : U → R
such that
1) V (x) is positive definite.
2) There exist real numbers c1 > 0, c2 > 0 and α ∈ (0, 1)
and an open neighborhood U0 ⊂ U of the origin such
that V̇ (x) + c1V α (x) + c2V (x) ≤ 0, x ∈ U0 \ {0}.
Then, the origin is a finite-time stable equilibrium of system
(1). If U = U0 = Rn , the origin is a globally finite time stable
equilibrium of (1).
Lemma 2 [5]. If 0 <  = 12 < 1, where 1 > 0 and 2 > 0
are positive odd integers, then |x − y | ≤ 21− |x − y| .
Lemma 3 [20]. Suppose x ≥ 0, y ≥ 0, and z ≥ 0 are contin-
uous functions and c, d are two positive real numbers. Then,
for any constant m > 0, we have
d  c n
m c+d
|x|c |y|d z ≤ m|x|c+d + |y|c+d |z| d .
c + d m(c + d)
Lemma 4 [21]. For xi ∈ R, i = 1, ..., n, 0 < p ≤ 1 is a real
number, then the following inequality holds
(|x1 | + · · · + |xn |) p ≤ |x1 | p + · · · + |xn | p .
3 Finite time feedback controller design
Consider the following time-varying third-order system
ẋ1 = d1 (t)x2 , ẋ2 = d2 (t)x3 , ẋ3 = d3 (t)u, (2)
and assume that 0 < di1 ≤ di (t) ≤ di2 , i = 1, 2, 3.

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 Theorem 1. If the control law u(t) is designed as The derivative of W2 along system (2) is

(2 − 3 )2−3   x2 1
d22 21−τ 3 1 1 1 ∂ x∗ 2
u = − k3 + l(1 + ξ32 ) + Ẇ2 = − (s 2
− x2∗ 2 )1−2 ds 2 ẋ1
d31 (2 + τ )(2 − 2 ) 2−2 x2∗ ∂ ξ1

3 +τ
+ρ5 (x1 , x2 ) + ρ6 (x1 , x2 ) ξ3 , (3) 1
+ ξ 2−2 d2 (t)x3
(2 − 2 )2−2 2
where τ = − qp ∈ (− 13 , 0), q is a positive even integer, p is a d1 (t)  1
∗
≤ |ξ 2 |1−2
|x 2 − x ||x2 | (k1 + l(1 + ξ ))
2 2
positive odd integer, and 2−2 2 1

2l 1 −1 
1 = 1, 2 = 1 + τ , 3 = 2 + τ , k4 > 0, + (k1 + l(1 + ξ12 )) 2 ξ12
2
2d12 2 d12
k1 > k4 + + 21−2 , +
1
ξ 2−2 d2 (t)x3 ,
2+τ d11 (2 + τ ) (14)
(2 − 2 )2−2 2
d12 2 d22 21−τ 3 + 2τ
k2 > k4 + 21−2 + + , 1 1
d11 (2 + τ ) 2+τ 2+τ 
where ξ2 = x22 − x2∗ 2 .
k3 > k4 , (4) Using Lemma 4, we obtain

then the closed-loop system (2) and (3) is globally finite time 2l 1 −1 2l 12 −1 1 −1
(k1 + l(1 + ξ12 )) 2 ξ12 ≤ (k + l 2 )ξ12
stable. 2 2 1
x2
Proof. Step 1: Choose V1 (x1 ) = 2d111 . 2 1 2
Computing the first order derivative of V1 along system (2), + l 2 ξ1 2 . (15)
2
we have
Then, (14) can be expressed as
x1 ẋ1 d1 (t)x1
V̇1 = = x2 d1 (t)
d11 d11 Ẇ2 ≤ |ξ2 |1−2 |x2 − x2∗ ||x2 |ρ1 (ξ1 )
2−2
d1 (t)x1 d1 (t)x1 ∗
= (x2 − x2∗ ) + x . (5) 1
d11 d11 2 + ξ 2−2 d2 (t)x3 , (16)
(2 − 2 )2−2 2
The virtual controller x2∗ is defined as 1 1 −1 1
 −1
where ρ1 (ξ1 ) = (k1 + l(1 + ξ12 )) 2 + 2l2 (k12 + l 2 )ξ12 +
x2∗ = −ξ12 (k1 + l(1 + ξ12 )) = −β1 (ξ1 )ξ12 , (6) 1 2
2
2 l ξ1
2 2
is a C1 function. According to Lemma 2, the fol-
where k1 > 0, l > 0, ξ1 = x1 , β1 (ξ1 ) = k1 + l(1 + ξ12 ). lowing inequality is true
Substituting virtual controller (6) into (5), yields
d1 (t)
|ξ2 |1−2 |x2 − x2∗ ||x2 |ρ1 (ξ1 )
d1 (t)ξ1 d1 (t) 2−2
V̇1 = (x2 − x2∗ ) − (k1 + l(1 + ξ12 ))ξ11+2
d11 d11 d1 (t) 1
2 2
1
∗ 2 2
= |ξ2 |1−2
|(x2 ) − (x2 ) ||x2 |ρ1 (ξ1 )
d1 (t)ξ1 2−2
≤ −k1 ξ12+τ − l(1 + ξ12 )ξ12+τ + (x2 − x2∗ ).(7) 1
d11 ≤ d1 (t) − |ξ2 |1−2 21−2 |ξ2 |2 |x2 |ρ1 (ξ1 )
2 2
Note that = 2d1 (t)|ξ2 ||x2 |ρ1 (ξ1 )
1 + ξ12 ≥ ξ1−τ , (8) = 2d1 (t)|ξ2 ||x2 − x2∗ |ρ1 (ξ1 ) + 2d1 (t)|ξ2 ||x2∗ |ρ1 (ξ1 )
≤ 2d1 (t)|ξ2 |21−2 |ξ2 |2 ρ1 (ξ1 ) (17)
and multiplying the right hand and left hand ξ12+τ , leads to 2
+2d1 (t)|ξ2 ||ξ1 | β1 (ξ1 )ρ1 (ξ1 )
(1 + ξ12 )ξ12+τ ≥ ξ12 . (9) ≤ 22−2 d12 ρ1 (ξ1 )ξ22+τ + 2d1 (t)β1 (ξ1 )ρ1 (ξ1 )|ξ2 ||ξ1 |2 .

Furthermore, according to (9), we obtain From Lemma 3, one has

2 2+τ
−l(1 + ξ12 )ξ12+τ ≤ −l ξ12 . (10) β1 (ξ1 )ρ1 (ξ1 )|ξ2 ||ξ1 |2 ≤ ξ (18)
2+τ 1
1
Then, (7) can rewritten as + (β1 (ξ1 )ρ1 (ξ1 ))2+τ ξ22+τ .
2+τ
d1 (t)ξ1 d1 (t)
V̇1 = (x2 − x2∗ ) − (k1 + l(1 + ξ12 ))ξ11+2 Combining (17) and (18), we obtain
d11 d11
d1 (t)ξ1 d1 (t) 2+τ
≤ −k1 ξ12+τ − l ξ12 + (x2 − x2∗ ). (11) |ξ2 |1−2 |x2 − x2∗ ||x2 |ρ1 (ξ1 ) ≤ 22−2 d12 ρ1 (ξ1 )ξ(19)
d11 2−2 2
2 2+τ 1
Step 2: The candidate Lyapunov function can be chosen as +2d12 ( ξ + (β1 (ξ1 )ρ1 (ξ1 ))2+τ ξ22+τ ).
2+τ 1 2+τ
V2 = V1 +W2 , (12) Then we have
 x2 1  
1 1
W2 = −
(s 2 − x2∗ 2 )2−2 ds. (13) Ẇ2 ≤ 22−2 d12 ρ1 (ξ1 )ξ22+τ + 2d12
2
ξ 2+τ
(2 − 2 )2 2 ∗
x2 2+τ 1

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1 (2 − 2 )2−2
+ (β1 (ξ1 )ρ1 (ξ1 ))2+τ ξ22+τ −
1
d (t) k2
2+τ (2 − 2 )2−2
2
d21
1

+ ξ 2−2 d2 (t)x3 . (20)  

(2 − 2 )2−2 2
+ l(1 + ξ22 ) + ρ2 (ξ1 ) ξ22+τ
According to Lemma 2, the following inequality is true  
2d12 2 d12
d1 (t) d1 (t) ≤ − k1 − − 21−2 ξ 2+τ − l ξ12
ξ1 (x2 − x2∗ ) ≤ |ξ1 ||x2 − x2∗ | 2+τ d11 (2 + τ ) 1
d11 d11  
d12 2
d12 1 + 2 1−2
+ ρ2 (ξ1 ) ξ22+τ
≤
1
|ξ1 ||(x22 )2 − (x2∗ 2 )2 |
 d11 (2 + τ )
d11 1
d12 + ξ 2−2 d2 (t)(x3 − x3∗ )
≤ 21−2 |ξ1 ||ξ2 |2 . (21) (2 − 2 )2−2 2
d11
−k2 ξ22+τ − l(1 + ξ22 )ξ22+τ − ρ2 (ξ1 )ξ22+τ . (27)
Using Lemma 3, we have
Similar to (8)-(10), we have
1 2 2+τ  
2
|ξ1 ||ξ2 | ≤ ξ 2+τ + ξ . (22) 2d12 2 d12
2+τ 1 2+τ 2 V̇2 ≤ − k1 − − 21−2 ξ 2+τ − l ξ12
2+τ d11 (2 + τ ) 1
Combining (21) and (22), we obtain  
d12 2
− k2 − 21−2 ξ 2+τ
d1 (t) d11 (2 + τ ) 2
ξ1 (x2 − x2∗ ) 1
d11 −l ξ22 + ξ 2−2 d2 (t)(x3 − x3∗ ). (28)
d12 1 2 2+τ (2 − 2 )2−2 2
≤ 21−2 ( ξ12+τ + ξ ). (23)
d11 2 + τ 2+τ 2 Step 3: The candidate Lyapunov function is chosen as
Substituting (23) into (7), yields
V3 = V2 +W3 , (29)
 x3 1
d12 1 2 2+τ 1 1
∗ 3 2−3
V̇1 ≤ −k1 ξ12+τ + 21−2 ( ξ12+τ + ξ ). (24) W3 = (s 3
− x ) ds. (30)
d11 2 + τ 2+τ 2 (2 − 3 )2−3 x3∗ 3

According to (20) and (24), we have The derivative of W3 along system (2) is
   x3
2d12 2 d12 1 1 1
V̇2 ≤ − k1 − − 21−2 ξ 2+τ − l ξ12 Ẇ3 = − (s 3 − x3∗ 3 )1−3 ds
2+τ d11 (2 + τ ) 1 2−3 x3∗
 
d12 2 ∂x ∂ x3∗ 3 
1 1
∗ 3
+ 21−2 + ρ2 (ξ1 ) ξ22+τ
d11 (2 + τ ) × 3
ẋ2 + ẋ1
∂ x2 ∂ x1
1
+ ξ 2−2 d2 (t)(x3 − x3∗ ) +
1
ξ 2−3 d3 (t)u
(2 − 2 )2−2 2 (2 − 3 )2−3 2
1
+ ξ 2−2 d2 (t)x3∗ , (25)  1
 ∂ x3∗ 3 
(2 − 2 )2−2 2 ≤
1
|ξ3 | 1−3
|x3 − x3∗ |d2 (t) |x3 | (31)
2−3 ∂ x2
where
 ∂ x3∗ 3  
1
d3 (t)
+d1 (t) |x2 | + ξ 2−3 u,
ρ2 (ξ1 ) = 22−2 d12 ρ1 (ξ1 ) ∂ x1 (2 − 3 )2−3 3
1
+2d12 (β1 (ξ1 )ρ1 (ξ1 ))2+τ . 1 1
2+τ 
where ξ3 = x33 − x3∗ 3 .
The virtual controller x3∗ is designed as Using Lemma 2, we have

1
(2 − 2 )2−2   |ξ3 |1−3 |x3 − x3∗ | ≤ 2|ξ3 |. (32)
∗
x3 = − k2 + l(1 + ξ2 ) + ρ2 (ξ1 ) ξ23
2 2−3
d21
Note that

= −β2 (x1 , x2 )ξ2 3 , (26) 1 1
1
3 3
 ∂ x3∗ 3      1  
where k2 > 0. Combining (25) and (26), we obtain   =  ∂ (β2 ξ2 )  =  ∂ (β2 ) |ξ2 | + |β 3 | ∂ ξ2 
∂ x2 ∂ x2 ∂ x2 2
∂ x2
 2d12 2 d12  1 (2 − 2 )2−2 13 −1 12 −1 2
V̇2 ≤ − k1 − − 21−2 ξ 2+τ − l ξ12 = 2l β2 x2 ξ2
2+τ d11 (2 + τ ) 1 2 3 d21
 
d12 2 1 1 1 −1
+ 2 1−2
+ ρ2 (ξ1 ) ξ22+τ + β2 3 x22
d11 (2 + τ ) 2
1 1 (2 − 2 )2−2 13 −1 12 −1
+ ξ 2−2 d2 (t)(x3 − x3∗ ) ≤ 2l β2 x2 |ξ2 |1+2
(2 − 2 )2−2 2 2 3 d21

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 1 13 
1
1 + 3  2−3  2+τ
|ξ3 |2+τ ,
1+3
×|ξ2 |1−2 + β2 (|ξ2 | + β1 2 |ξ1 |)1−2 .(33) + 2 d22 ρ4 (x1 , x2 )
2 2+τ
Using Lemma 4, leads to 2d22 ρ4 (x1 , x2 )β2 |ξ1 |1−2 |ξ2 |3 |ξ3 |
1−
|ξ1 |1+τ |ξ3 |
2
≤ 2d22 ρ4 (x1 , x2 )β2 (37)
1+τ
1 1 −1
 
(|ξ2 | + β1 2 |ξ1 |)1−2 ≤ |ξ2 |1−2 + β1 2 |ξ1 |1−2 . (34) 
3
+ |ξ2 |1+τ |ξ3 |
Substituting (34) into (33), yields 1+τ
1+τ
1 ≤ |ξ1 |2+τ
 ∂ x3∗ 3  1 (2 − 2 )2−2 13 −1 12 −1 2+τ
  ≤ 2l β2 x2 |ξ2 |1+2 1  1 − 2 2+τ
∂ x2 2 3 d21 + 2d22 ρ4 (x1 , x2 )β2 |ξ3 |2+τ
2+τ 1+τ
×|ξ2 |1−2 1+τ
1 1 1
 −1
+ |ξ2 |2+τ
+ β2 3 (|ξ2 |1−2 + β1 2 |ξ1 |1−2 ) 2+τ
2 1  3 2+τ
+ 2d22 ρ4 (x1 , x2 )β2 |ξ3 |2+τ .
1 (2 − 2 )2−2 13 −1 12 −1 2+τ 1+τ
= (2l β2 x2 |ξ2 |1+2
2 3 d21 Combining (36) and (37), yields
1 1 1 1 1 −1
+ β2 3 )|ξ2 |1−2 + β2 3 β1 2 |ξ1 |1−2 1
2 2 1 
 ∂ x∗ 3
|ξ3 | 1−3 |x3 |
|x3 − x3∗ |d2 (t) 3
= ρ3 (x1 , x2 )|ξ2 |1−2
+ ρ4 (x1 , x2 )|ξ1 |1−2 , (35) 2−3 ∂ x2
1
−2
1 −1 1 −1 ≤ |ξ1 |2+τ + |ξ2 |2+τ + ρ5 (x1 , x2 )|ξ3 |2+τ , (38)
where ρ3 (x1 , x2 ) = 2l 213 (2−d221)2

β2 3 x22 |ξ2 |1+2 + 2+τ
1 1 1 −1 where
1 3 1 3 2
2 β2 , ρ4 (x1 , x2 ) = 2 β2 β1 .
1 + 3  2−3  2+τ
1+3
ρ5 (x1 , x2 ) = 2 d22 ρ3 (x1 , x2 )
Combining (32), (35) and Lemma 2, one obtains 2+τ
1  2+τ
1 + 2d22 β2 ρ3 (x1 , x2 )
1  ∂ x3∗ 3  2+τ
|ξ | |x
1−3
− ∗
|d (t) |x3 |
1 + 3  2−3  2+τ
3 3 x 2
2−3 3
∂ x2 1+3
 + 2 d22 ρ4 (x1 , x2 )
≤ 2|ξ3 |d22 ρ3 (x1 , x2 )|ξ2 |1−2 + ρ4 (x1 , x2 )|ξ1 |1−2 |x3 | 2+τ
 1  1 − 2 2+τ
≤ 2|ξ3 |d22 ρ3 (x1 , x2 )|ξ2 |1−2 + 2d22 ρ4 (x1 , x2 )β2
2+τ 1+τ
+ρ4 (x1 , x2 )|ξ1 |1−2 (|x3 − x3∗ | + |x3∗ |) 1  3 2+τ
 + 2d22 ρ4 (x1 , x2 )β2 .
≤ 2|ξ3 |d22 ρ3 (x1 , x2 )|ξ2 |1−2 2+τ 1+τ

+ρ4 (x1 , x2 )|ξ1 |1−2 (21−l3 |ξ3 |3 + β2 |ξ2 |3 ) Note that
 1
= 2d22 ρ3 (x1 , x2 )|ξ2 |1−2 |ξ3 | 1  ∂ x∗ 3 
|ξ3 | 1−3
|x3 − x3∗ |d1 (t) 3 |x2 |
+2d22 ρ4 (x1 , x2 )|ξ1 |1−2 |ξ3 | 2−3 ∂ x1
1
×(21−l3 |ξ3 |3 + β2 |ξ2 |3 )  ∂ x∗ 3 
≤ 2d12  3 |ξ3 ||x2 |
= 22−3 d22 ρ3 (x1 , x2 )|ξ2 |1−2 |ξ3 |1+3 ∂ x1
+2d22 β2 ρ3 (x1 , x2 )|ξ2 |1−2 +3 |ξ3 |
1
 ∂ x∗ 3 
+22−3 d22 ρ4 (x1 , x2 )|ξ1 |1−2 |ξ3 |1+3 ≤ 2d12  3 |ξ3 |(|x2 − x2∗ | + |x2∗ |). (39)
∂ x1
+2d22 ρ4 (x1 , x2 )β2 |ξ1 |1−2 |ξ2 |3 |ξ3 |. (36) Using Lemma 2, we have
Based on Lemma 3, we have |x2 − x2∗ | ≤ 21−2 ξ22 . (40)
2 d22 ρ3 (x1 , x2 )|ξ2 |
2−3
|ξ3 |
1−2 1+3
Substituting (40) into (39) and combining Lemma 3, yields
1 − 2
≤ |ξ2 |2+τ  ∂ x∗ 3
1

2+τ 1
|ξ3 | 1−3
|x3 − x3∗ |d1 (t) 3 |x2 |
1 + 3  2−3  2+τ 2−3 ∂ x1
|ξ3 |2+τ ,
1+3
+ 2 d22 ρ3 (x1 , x2 ) 1 1
2+τ  ∂ x∗ 3   ∂ x∗ 3 
2d22 β2 ρ3 (x1 , x2 )|ξ2 |1+τ |ξ3 | ≤ 22−2 d12  3 |ξ3 ||ξ2 |2 + 2d12  3 β1 |ξ1 |2 |ξ3 |
∂ x1 ∂ x1
1+τ 1  2+τ
1  2−2  ∂ x3∗ 3 2+τ
1
≤ |ξ2 |2+τ + 2d22 β2 ρ3 (x1 , x2 ) |ξ3 |2+τ , 2
2+τ 2+τ ≤ |ξ2 |2+τ + 2 d12 |ξ3 |2+τ
2+τ 2+τ ∂ x1
22−3 d22 ρ4 (x1 , x2 )|ξ1 |1−2 |ξ3 |1+3
1   ∂ x∗ 3  2+τ
1
1 − 2 2
≤ |ξ1 |2+τ + |ξ1 |2+τ + 2d12  3 β1 |ξ3 |2+τ
2+τ 2+τ 2+τ ∂ x1

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 2 2 d3 (t)
= |ξ2 |2+τ + |ξ1 |2+τ + ρ6 (x1 , x2 )|ξ3 |2+τ ,(41) + ξ 2−3 u
2+τ 2+τ (2 − 3 )2−3 3
 2d12 2 d12 
  ∂ x∗ 3 2+τ
1
= − k1 − − 21−2 − 1 ξ12+τ
where ρ6 (x1 , x2 ) = 2+1 τ 22−2 d12  ∂3x  + 2+τ d11 (2 + τ )
1 
  ∂ x∗ 3  2+τ
1 d 
12 2
 3  − k2 − 21−2
2+τ 2d12 ∂ x1 β1 .
1
d11 (2 + τ )

Combining (31), (38), and (41), gives rise to d22 21−τ 3 + 2τ
− − ξ22+τ
3 + 2τ 2+τ 2+τ
Ẇ3 ≤ |ξ1 |2+τ + |ξ2 |2+τ
2+τ −l ξ12 − l ξ22
+(ρ5 (x1 , x2 ) + ρ6 (x1 , x2 ))|ξ3 |2+τ  d 21−τ  
22 3
+ + ρ5 (x1 , x2 ) + ρ6 (x1 , x2 )
d3 (t) (2 + τ )(2 − 2 )
+ ξ 2−3 u. (42)
(2 − 3 )2−3 3 d3 (t)
×|ξ3 |2+τ + ξ 2−3 u (47)
(2 − 3 )2−3 3
Based on Lemma 2, one obtains
d2 (t) Here, we design
|ξ2 |2−2 |x3 − x3∗ |
(2 − 2 )2−2
(2 − 3 )2−3  d22 21−τ 3
d22 21−3 u = − k3 + l(1 + ξ32 ) +
≤ |ξ2 |2−2 |ξ3 |3 d31 (2 + τ )(2 − 2 )
(2 − 2 )2−2 
3 +τ
+ρ5 (x1 , x2 ) + ρ6 (x1 , x2 ) ξ3 . (48)
d22 21−τ
= |ξ2 |2−2 |ξ3 |3 . (43)
(2 − 2 ) Substituting (48) into (47), yields
Using Lemma 3, we have  2d12 2 d12 
V̇3 ≤ − k1 − − 21−2 − 1 ξ12+τ
2 − 2 3 2+τ d11 (2 + τ )
|ξ2 |2−2 |ξ3 |3 ≤ |ξ2 |2+τ + |ξ3 |2+τ . (44) 
2+τ 2+τ d 
12 2
− k2 − 21−2
Substituting (44) into (43), leads to d11 (2 + τ )

d22 21−τ 3 + 2τ
d22 − − ξ22+τ
|ξ2 |2−2 |x3 − x3∗ | 2+τ 2+τ
(2 − 2 )2−2
−l ξ12 − l ξ22 − k3 |ξ3 |2+τ − l(1 + ξ32 )|ξ3 |2+τ . (49)
d22 21−τ  2 − 2 3 
≤ |ξ2 |2+τ + |ξ3 |2+τ
2 − 2 2 + τ 2+τ Similar to (8)-(10), yields
d22 21−τ 2+τ d22 21−τ 3
≤ ξ + ξ 2+τ . (45)  2d12 2 d12 
2+τ 2 (2 + τ )(2 − 2 ) 3 V̇3 ≤ − k1 − − 21−2 − 1 ξ12+τ
2+τ d11 (2 + τ )
Combining (28) and (45), we have 
d12 2
  − k2 − 21−2
2d12 2 d12 d11 (2 + τ )
V̇2 ≤ − k1 − − 21−2 ξ 2+τ 
2+τ d11 (2 + τ ) 1 d22 21−τ 3 + 2τ
 − − ξ22+τ
d12 2 2+τ 2+τ
− k2 − 21−2
d11 (2 + τ ) −l ξ12 − l ξ22 − k3 |ξ3 |2+τ − l ξ32 . (50)

d22 21−τ
− ξ22+τ − l ξ12 − l ξ22 On the basis of (4), we have
2+τ
d22 21−τ 3 V̇3 ≤ −k4 (ξ12+τ + ξ22+τ + ξ32+τ ) − l(ξ12 + ξ22 + ξ32 ).
+ ξ 2+τ . (46) (51)
(2 + τ )(2 − 2 ) 3
From (29) and (30), by some calculations, one obtains
According to (42) and (46), we obtain
 2d12 2  1 2 1 2−2
V̇3 ≤ − k1 − − 21−2
d12
ξ 2+τ V3 ≤ ξ + ξ (x2 − x2∗ )
2+τ d11 (2 + τ ) 1 2d11 1 2−2 2
 1 2−
d12 2 + − ξ3 3 (x3 − x3∗ ). (52)
− k2 − 21−2 2 3
d11 (2 + τ )

d22 21−τ Note that ξi2−i (xi − xi∗ ) ≤ 21−i ξi2−i ξii = 21−i ξi2 , i =
− ξ22+τ − l ξ12 − l ξ22
2+τ 2, 3. It follows that V3 ≤ 2a111 ξ12 + 2ξ22 + 2ξ32 . Letting λ =
 
d22 21−τ 3 3 + 2τ max 2d111 , 2 , one obtains
+ ξ 2+τ + |ξ1 |2+τ + |ξ2 |2+τ
(2 + τ )(2 − 2 ) 3 2+τ
+(ρ5 (x1 , x2 ) + ρ6 (x1 , x2 ))|ξ3 |2+τ V3 ≤ λ (ξ12 + ξ22 + ξ32 ). (53)

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 k4
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