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Finite-Time Control of Parameterized Nonlinear Systemswith Full-State Constraints and Input Delay(PDF)

南京师范大学学报（工程技术版）[ISSN:1006-6977/CN:61-1281/TN]

Issue:
2021年02期
Page:
40-46
Research Field:
控制科学与工程
Publishing date:

Info

Title:
Finite-Time Control of Parameterized Nonlinear Systemswith Full-State Constraints and Input Delay
Author(s):
Jin Xuan; Liu Wenhui
NARI School of Electrical and Automation Engineering,Nanjing Normal University,Nanjing 210023,China
Keywords:
nonlinear system; input delay; adaptive finite-time control; Barrier Lyapunov function; full state constraints
PACS:
TP13
DOI:
10.3969/j.issn.1672-1292.2021.02.007
Abstract:
This paper studies the problem of adaptive finite-time tracking control for strict-feedback parameterized nonlinear continuous-time systems with full state constraints,bounded external disturbances and input time delay. By utilizing Barrier Lyapunov functions and the adaptive backstepping method,all states of the system are ensured to be constrained. Then,for the problem of input delay,pade approximation method is used to eliminate the negative effect of input delay. The finite-time controller is designed such that all the signals in the closed-loop system are bounded,the output tracks the reference signal effectively and all states are ensured to remain in the predefined compact sets. Finally,the effectiveness of the proposed scheme is verified via simulation results.

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Last Update: 2021-06-30