This work addresses a finite-time tracking control issue for a class of nonlinear systems with asymmetric time-varying output constraints and input nonlinearities. To guarantee the finite-time convergence of tracking errors, a novel finite-time command filtered backstepping approach is presented by using the command filtered backstepping technique, finite-time theory, and barrier Lyapunov functions. The newly proposed method can not only reduce the complexity of computation of the conventional backstepping control and compensate filtered errors caused by dynamic surface control but also can ensure that the output variables are restricted in compact bounding sets. Moreover, the proposed controller is applied to robot manipulator systems, which guarantees the practical boundedness of all the signals in the closed-loop system. Finally, the effectiveness and practicability of the developed control strategy are validated by a simulation example.

中文翻译：

---

具有输出约束和输入非线性的非线性系统的自适应有限时间命令滤波控制器设计


这项工作解决了一类具有不对称时变输出约束和输入非线性的非线性系统的有限时间跟踪控制问题。为了保证跟踪误差的有限时间收敛，利用命令滤波反步技术、有限时间理论和势垒Lyapunov函数，提出了一种新颖的有限时间命令滤波反步方法。新提出的方法不仅可以降低传统反步控制的计算复杂度并补偿动态表面控制引起的滤波误差，而且可以确保输出变量被限制在紧边界集中。此外，所提出的控制器应用于机器人机械手系统，保证了闭环系统中所有信号的实际有界性。最后通过仿真算例验证了所开发控制策略的有效性和实用性。