|Table of Contents|

Finite-time Tracking Control of Nonlinear Systemswith Unknown Control Directions(PDF)

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

Issue:
2021年03期
Page:
33-41
Research Field:
控制科学与工程
Publishing date:

Info

Title:
Finite-time Tracking Control of Nonlinear Systemswith Unknown Control Directions
Author(s):
Meng Bo; Liu Wenhui
NARI School of Electrical and Automation Engineering,Nanjing Normal University,Nanjing 210023,China
Keywords:
state observer; unknown control directions; finite-time tracking control; fuzzy logic systems; dead zone
PACS:
TP13
DOI:
10.3969/j.issn.1672-1292.2021.03.005
Abstract:
This paper concentrates on the finite-time output feedback tracking control problem for a class of strict-feedback nonlinear systems with input dead zone and unknown control directions. Firstly,the nonlinear system with unknown control directions is transformed into an equivalent system with known control gain by coordinate transformation. Then,a fuzzy state observer is designed to approximate the unmeasurable state,and Nussbaum function is introduced to solve the problem of unknown control directions. Based on the fuzzy state observer,the controller of the original system is obtained indirectly by backstepping method with the use of transformed system. In addition,the controller can ensure that the tracking error converges to a small neighborhood of the origin in finite-time,and that all signals in the closed-loop system remain bounded. Finally,a simulation example is given to demonstrate the feasibility and effectiveness of the control method.

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Last Update: 2021-09-30