Adaptive finite-time tracking control of full state constrained nonlinear systems with dead-zone

• Autores: Hongyi Li, Shiyi Zhao, Wei He, Renquan Lu--
• Localización: Automatica: A journal of IFAC the International Federation of Automatic Control, ISSN 0005-1098, Nº. 100, 2019, págs. 99-107
• Idioma: inglés
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• Resumen

  • This paper investigates the problem of adaptive finite-time tracking control for strict-feedback nonlinear continuous-time systems subject to full state constraints and dead-zone. By utilizing the finite-time stability theory, barrier Lyapunov functions and the adaptive backstepping method, a novel adaptive tracking control strategy is proposed. On the basis of the presented method, the finite-time control problem of the nonlinear system with dead-zone is solved. The finite-time controller is designed such that all the signals in the closed-loop system are bounded, the output is driven to track the reference signal to a small neighborhood and all states are ensured to remain in the predefined compact sets. Finally, the effectiveness of the proposed scheme is verified via some simulation results.