Nonsingular Fixed-Time Control of Nonstrict Feedback MIMO Nonlinear System With Asymptotically Convergent Tracking Error
Shuai Sui, Hao Xu, C. L. Philip Chen, Shaocheng Tong
Abstract
In this article, the research on fixed-time tracking control problem of multiple-input multiple-output nonlinear systems with nonstrict feedback control structure is carried out. By means of the fuzzy logic systems, the unknown system nonlinear dynamics are identified, and the “algebraic loop problem” is solved. Then, through the combination of adaptive backstepping recursive technology and adding power integration technology, a nonsingular fixed-time adaptive tracking control scheme is presented. Under the action of the presented control scheme, the system can track the specified reference signal within a fixed time independent of the initial state of the system, and the tracking control error can converge to zero asymptotically. Next, on the basis of the fixed-time Lyapunov stability theory, the practical fixed-time stability of the closed-loop system is theoretically demonstrated. Finally, two simulations verify the validity and practicability of the proposed control scheme.