Journal
INFORMATION SCIENCES
Volume 528, Issue -, Pages 231-245Publisher
ELSEVIER SCIENCE INC
DOI: 10.1016/j.ins.2020.04.029
Keywords
Nonlinear system; Barrier Lyapunov function; Finite-time; Adaptive control
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Funding
- Taishan Scholar Project of Shandong Province of China [2015162, tsqn201812093]
- Postdoctoral Science Foundation [2019M662812]
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This paper focuses on the issue of adaptive finite-time tracking control for uncertain strict-feedback nonlinear systems with full state constraints. For the first time, a new finite-time adjustable barrier function is introduced, whose design parameters can be regulated dynamically in real time with the change of tracking error. It cannot only converge to a preset region in a finite settling time with a faster convergent barrier, but it further optimizes the system transient performance. By embedding the proposed barrier function, a novel barrier Lyapunov function (BLF) is used for the design of an adaptive finite-time tracking controller, which guarantees that the output tracking error converges to a small region in finite time without violation of the constraint, and then tends to zero. All of the signals in the closed-loop system are bounded. A simulation verifies the effectiveness of the proposed control scheme. (C) 2020 Elsevier Inc. All rights reserved.
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