Robust backstepping non-smooth practical tracking for nonlinear systems with mismatched uncertainties

This article investigates the robust finite-time output tracking control problem for a class of uncertain nonlinear systems subject to mismatched uncertainties and external disturbances. The nonlinear systems with nonstrict-feedback form are considered, which possess unknown control coefficients and uncertainties bounded by nonnegative convex functions. Based on signal compensation theory and backstepping methodology, a new robust finite-time controller is proposed, which incorporates a non-smooth time-invariant controller to achieve finite-time convergence property and a robust compensator introduced to restrain the influences of uncertainties. With the help of finite-time Lyapunov theorem, the robust finite-time tracking performance of the closed-loop system is proved. Finally, two simulation examples are given to validate the effectiveness of the proposed control approach.

Automated summary

This article investigates the robust finite-time output tracking control problem for a class of uncertain nonlinear systems with mismatched uncertainties and external disturbances. A new robust finite-time controller is proposed based on signal compensation theory and backstepping methodology, which incorporates a non-smooth time-invariant controller and a robust compensator to achieve finite-time convergence and restrain the influences of uncertainties. The effectiveness of the proposed control approach is validated through simulation examples.