Open AccessAdaptive Tracking Control for a Class of Nonlinear MIMO Systems: A Quasi-Fast Finite-Time Design Technique
Author(s) -
Xiao-An Wang,
Dong-Yang Jin,
Yu Zhang,
Jia-Ming Zhang,
Ben Niu,
Xiao-Mei Liu
Publication year - 2021
Publication title -
ieee access
Language(s) - English
Resource type - Journals
SCImago Journal Rank - 0.587
H-Index - 127
ISSN - 2169-3536
DOI - 10.1109/access.2021.3120469
Subject(s) - aerospace , bioengineering , communication, networking and broadcast technologies , components, circuits, devices and systems , computing and processing , engineered materials, dielectrics and plasmas , engineering profession , fields, waves and electromagnetics , general topics for engineers , geoscience , nuclear engineering , photonics and electrooptics , power, energy and industry applications , robotics and control systems , signal processing and analysis , transportation
In this paper, we investigate the problem of adaptive finite-time tracking control for a class of nonlinear multi-input and multi-output (MIMO) systems with a state coupling relationship between subsystems, which is called the structure of nonstrict-feedback. Based on the quasi-fast finite-time design technique, an adaptive controller is obtained for the considered MIMO systems. The advantages of the presented control scheme lie in that the “explosion of complexity” problem in the backstepping process is solved by utilizing the command filter technique, and the design difficulties caused by nonstrict-feedback structure are also overcome. It is shown that all the signals in the closed-loop system are bounded and the convergence performance with the bounded tracking errors is guaranteed in a finite time. Finally, a practical example is given to show the effectiveness of the proposed method.