期刊
IEEE TRANSACTIONS ON SYSTEMS MAN CYBERNETICS-SYSTEMS
卷 52, 期 2, 页码 980-989出版社
IEEE-INST ELECTRICAL ELECTRONICS ENGINEERS INC
DOI: 10.1109/TSMC.2020.3010642
关键词
Adaptive fuzzy control; command-filtered backstepping (CFB); finite-time control; multi-input and multi-output (MIMO) nonlinear systems
资金
- National Natural Science Foundation of China [61703059, 61973179, 61873144]
- Natural Science Foundation of Jiangsu Province [BK20170291]
- Taishan Scholar Special Project Fund [TSQN20161026]
- China Postdoctoral Science Foundation [2018M632621]
- National Research Foundation of South Africa [113340, 120106]
- Oppenheimer Memorial Trust
- Open Foundation of the Suzhou Smart City Research Institute, Suzhou University of Science and Technology [SZSCR2019003]
- Applied Research Project for Postdoctoral Researchers of Qingdao
This article investigates the problem of finite-time adaptive fuzzy tracking control for multi-input and multi-output (MIMO) nonlinear systems with input saturation. A new finite-time command filter and modified error compensation mechanism are introduced to address complexity explosion and filter error effects. The proposed finite-time adaptive control scheme guarantees finite-time bounded signals and regulation of output tracking errors to a small neighborhood of the origin. Numerical comparison example verifies the effectiveness of the proposed control scheme.
In this article, the problem of finite-time adaptive fuzzy tracking control for multi-input and multi-output (MIMO) nonlinear systems with input saturation is investigated. The new finite-time command filter is introduced for generating command signals and their derivatives to work out the matter of explosion of complexity, and the modified fractional power-based error compensation mechanism (ECM) serves as removing the effect of filter error. Then, the finite-time adaptive control scheme is established via the backstepping recursive design technique. It guarantees all the signals of the closed-loop system (CLS) are finite-time bounded while the output tracking errors are regulated to a sufficiently small neighborhood of the origin in finite time. Finally, the effectiveness of the proposed finite-time control scheme is verified by a numerical comparison example.
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