Smooth adaptive finite-time tracking for uncertain time-varying systems
File(s)
Accepted version
Author(s)
Liu, Guoqing
Chen, Kaiwen
Chen, Yang-Yang
Type
Journal Article
Abstract
This paper addresses the adaptive finite-time tracking control problem of strict-feedback nonlinear systems, where the control coefficient and the model parameters are time-varying and unknown. Based on the so-called congelation of variables method, a novel fractional-power adaptive update law is designed to achieve finite-time practical tracking in the presence of unknown time-varying coefficient/parameters. The virtual and actual control inputs of the proposed finite-time controller are designed in a smooth sign-function-like form complemented by a smooth sign-function-like filter, which allows for circumventing the singularity issues and the chattering phenomenon caused by non-smooth terms in classical finite-time controllers and filters. The tracking error proves to be bounded and converges to a desired compact set in finite time. Simulations of two practical examples are presented and show the effectiveness of the proposed algorithm.
Date Issued
2024-12-01
Date Acceptance
2024-10-28
Citation
Systems & control letters (Print), 2024, 194
ISSN
0167-6911
Publisher
Elsevier
Journal / Book Title
Systems & control letters (Print)
Volume
194
Copyright Statement
Copyright © 2024 Elsevier B.V. This is the author’s accepted manuscript made available under a CC-BY licence in accordance with Imperial’s Research Publications Open Access policy (www.imperial.ac.uk/oa-policy)
License URL
Subjects
Adaptive control
Automation & Control Systems
Command filter backstepping
NONLINEAR-SYSTEMS
Operations Research & Management Science
ROBOTIC MANIPULATORS
Science & Technology
Smooth finite-time control
STABILIZATION
Technology
Time-varying systems
Publication Status
Published
Article Number
105963
Date Publish Online
2024-11-09