Adaptive Finite-Time Tracking Control of Nonlinear Systems With Dynamics Uncertainties
Huanqing Wang, Ke Xu, Huaguang Zhang
Abstract
In this article, the problem of adaptive backstepping finite-time tracking control is investigated for a class of strict-feedback nonlinear systems with unmodeled dynamics and dynamic disturbances. A modified finite-time dynamic signal is first introduced to dominate the dynamic disturbance. By using the adaptive control, backstepping technique, and finite-time stability theory, an adaptive finite-time tracking controller is developed. Under the proposed control scheme, the finite-time tracking performance and the boundedness property of all signals in the closed-loop system are ensured. Finally, simulation results check the effectiveness of the suggested approach.
Topics & Concepts
BacksteppingControl theory (sociology)Nonlinear systemController (irrigation)Adaptive controlTracking (education)Computer scienceStability (learning theory)Tracking errorControl engineeringControl (management)EngineeringPhysicsArtificial intelligenceMachine learningAgronomyPedagogyBiologyQuantum mechanicsPsychologyAdaptive Control of Nonlinear SystemsAdaptive Dynamic Programming ControlIterative Learning Control Systems