Open AccessAdaptive finite‐time tracking control for time‐varying output constrained non‐linear systems with unmatched uncertainties
Author(s) -
Wang Chunxiao,
Du Jinling,
Yu Jiangbo
Publication year - 2019
Publication title -
iet control theory and applications
Language(s) - English
Resource type - Journals
SCImago Journal Rank - 1.059
H-Index - 108
eISSN - 1751-8652
pISSN - 1751-8644
DOI - 10.1049/iet-cta.2018.5458
Subject(s) - control theory (sociology) , backstepping , parametric statistics , bounded function , convergence (economics) , tracking error , controller (irrigation) , adaptive control , mathematics , computer science , linear system , tracking (education) , control (management) , psychology , mathematical analysis , pedagogy , statistics , artificial intelligence , agronomy , economics , biology , economic growth
In this study, an adaptive finite‐time tracking control for a class of output constrained non‐linear systems is studied. Both parametric uncertainty and external disturbance of the system are considered. Using a novel adaptive backstepping control scheme with a tuning function, a robust controller is obtained. It drives the tracking error to converge to a small neighbourhood of origin in finite time in spite of the unmatched uncertainties. Except for the finite‐time convergence, it is also proved that the whole closed‐loop signals are bounded and the system output is constrained within the predefined open set for all the system running time. Finally, two examples which includes one numerical example and one single‐link robot are provided to demonstrate the effectiveness of the proposed control scheme.