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Finite-time backstepping control with command filter for a class of nonlinear systems with parametric uncertainties
Transactions of the Institute of Measurement and Control ( IF 1.8 ) Pub Date : 2020-03-23 , DOI: 10.1177/0142331220909664
Cong Feng 1 , Qing Wang 1 , Changhua Hu 2 , Shen Zhang 3
Affiliation  

In this paper, the problem of adaptive finite-time control is considered for a class of nonlinear systems with parametric uncertainties. A novel adaptive command filtered backstepping control method is proposed, and the adverse impact caused by the command filter is eliminated by introducing modified error compensation mechanism with consideration of parametric uncertainties. Combined with the designed adaptation laws, the error compensation mechanism can be finite-time stable. Rigorous proof is achieved to show that the tracking error converges to a small neighborhood of zero in finite time with online parameters adaptation and error compensation. Finally, numeral simulations are presented to validate the effectiveness of the proposed adaptive finite-time control scheme.

中文翻译:

一类具有参数不确定性的非线性系统的带命令滤波器的有限时间反步控制

本文考虑了一类具有参数不确定性的非线性系统的自适应有限时间控制问题。提出了一种新的自适应命令滤波反步控制方法,通过引入考虑参数不确定性的修正误差补偿机制,消除了命令滤波带来的不利影响。结合设计的适应律,误差补偿机制可以是有限时间稳定的。实现了严格的证明,表明跟踪误差在有限时间内收敛到零的一个小邻域,在线参数自适应和误差补偿。最后,通过数值模拟来验证所提出的自适应有限时间控制方案的有效性。
更新日期:2020-03-23
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