The trajectory tracking control problem for a class of nonlinear systems with uncertain parameters is considered in this article. A new adaptive finite-time tracking control is designed based on the adaptive backstepping method via the command filters. The command filter mechanism can avoid the calculation of partial derivatives and solve the “explosion of complexity” in the backstepping design. The compensation signals are introduced to eliminate errors produced by the command filters. The proposed adaptive backstepping control can guarantee the tracking error remains in a small neighborhood of the origin in finite time, while the practical finite-time stability of the control systems with uncertain parameters is proven by the stability criterion. The effectiveness of the proposed scheme is verified by some simulation results.

中文翻译：

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基于指令滤波器的不确定参数非线性系统有限时间自适应控制

本文考虑了一类参数不确定的非线性系统的轨迹跟踪控制问题。基于指令滤波器的自适应反步法设计了一种新的自适应有限时间跟踪控制。命令过滤机制可以避免偏导数的计算，解决反步设计中的“复杂度爆炸”。引入补偿信号是为了消除命令滤波器产生的误差。所提出的自适应反步控制可以保证跟踪误差在有限时间内保持在原点的一个小邻域内，同时稳定性判据证明了具有不确定参数的控制系统的实际有限时间稳定性。一些仿真结果验证了所提出方案的有效性。