Abstract

This paper mainly addresses the finite-time tracking problem of pure-feedback systems with indifferentiable non-affine functions. A novel adaptive fuzzy finite-time command filtered scheme is proposed by remodeling the non-affine functions. The control scheme consists of the fuzzy logic systems with modified minimal learning parameter technique, the command filtered scheme and the finite-time error compensation system. The finite-time convergences of tracking error and all closed-loop signals are proved by using the finite-time stability theory. The contributions of this paper are that the new controller can achieve finite-time convergence, relax the restriction conditions that the non-affine functions must be derivative and strictly positive or negative and reduce the computational load significantly. Finally, a simulation example is given to validate the effectiveness of the developed control technique.

中文翻译：

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具有不可微非仿射函数的非线性系统的有限时间自适应模糊命令滤波控制

摘要

本文主要解决具有不可仿射仿射函数的纯反馈系统的有限时间跟踪问题。通过对非仿射函数进行重构，提出了一种新颖的自适应模糊有限时间指令滤波方案。控制方案包括具有改进的最小学习参数技术的模糊逻辑系统，命令过滤方案和有限时间误差补偿系统。利用有限时间稳定性理论证明了跟踪误差和所有闭环信号的有限时间收敛性。本文的贡献在于，新控制器可以实现有限时间收敛，放宽了非仿射函数必须为导数且严格为正或负的约束条件，并显着降低了计算量。最后，