Finite-time command filtered adaptive control for nonlinear systems via immersion and invariance

Jinpeng Yu, Peng Shi, Xinkai Chen, Guozeng Cui

研究成果査読

14 被引用数 (Scopus)

抄録

This paper investigates the problem of finite-time adaptive output tracking control for strict-feedback nonlinear systems with parametric uncertainties. Command signals and their derivatives are generated by a new command filter based on a second-order finite-time differentiator, which attenuates the chattering phenomenon. The parameter estimations are achieved by an immersion and invariance approach without requiring the certainty equivalence principle. The finite-time adaptive controller is constructed via a backstepping design method, a finite-time command filter, and a modified fractional-order error compensation mechanism. The proposed control strategy guarantees the finite-time boundedness of all signals in the closed-loop system, and the tracking error is driven into an arbitrarily small neighborhood of the origin in finite time. Finally, the new design technique is validated in a simulation example of the electromechanical system.

本文言語English
論文番号192202
ジャーナルScience China Information Sciences
64
9
DOI
出版ステータスPublished - 2021 9

ASJC Scopus subject areas

  • コンピュータ サイエンス(全般)

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