Disturbance Observer-Based Adaptive Fuzzy Control for Strict-Feedback Nonlinear Systems With Finite-Time Prescribed Performance
Jianbin Qiu, Tong Wang, Kangkang Sun, Imre J. Rudas, Huijun Gao
Abstract
This article studies the disturbance observer-based adaptive fuzzy finite-time control issue of strict-feedback nonlinear systems. Specifically, to meet practical application requirement, the finite-time prescribed performance is considered, which can guarantee the tracking error enters into the prescribed bounded set in a known time. A disturbance observer is proposed to estimate the external disturbance. It is proved that the closed-loop system is semi-globally practically finite-time stable. Finally, simulation studies for a one-link manipulator are shown to verify the effectiveness of the proposed approach.
Topics & Concepts
Control theory (sociology)Nonlinear systemDisturbance (geology)Computer scienceObserver (physics)Fuzzy control systemFuzzy logicBounded functionAdaptive controlTracking errorAdaptive systemMathematicsControl (management)Artificial intelligenceBiologyMathematical analysisPhysicsQuantum mechanicsPaleontologyAdaptive Control of Nonlinear SystemsAdaptive Dynamic Programming ControlControl and Dynamics of Mobile Robots