This paper investigates the problem of finite-time adaptive output tracking control for strict-feedback nonlinear systems with parametric uncertainties. Command signals and their derivatives are generated by a new command filter based on a second-order finite-time differentiator, which attenuates the chattering phenomenon. The parameter estimations are achieved by an immersion and invariance approach without requiring the certainty equivalence principle. The finite-time adaptive controller is constructed via a backstepping design method, a finite-time command filter, and a modified fractional-order error compensation mechanism. The proposed control strategy guarantees the finite-time boundedness of all signals in the closed-loop system, and the tracking error is driven into an arbitrarily small neighborhood of the origin in finite time. Finally, the new design technique is validated in a simulation example of the electromechanical system.

本文研究了具有参数不确定性的严格反馈非线性系统的有限时间自适应输出跟踪控制问题。命令信号及其导数由基于二阶有限时间微分器的新命令滤波器生成，该滤波器减弱了颤振现象。参数估计是通过浸入式和不变性方法实现的，不需要确定性等效原理。有限时间自适应控制器是通过反步设计方法、有限时间命令滤波器和改进的分数阶误差补偿机制构建的。所提出的控制策略保证了闭环系统中所有信号的有限时间有界性，并且在有限时间内将跟踪误差驱动到原点的任意小邻域内。最后，