TY - JOUR
T1 - Finite-time command filtered adaptive control for nonlinear systems via immersion and invariance
AU - Yu, Jinpeng
AU - Shi, Peng
AU - Chen, Xinkai
AU - Cui, Guozeng
N1 - Funding Information:
This work was supported by National Natural Science Foundation of China (Grant Nos. 61973179, U1813201, 61973131, 61703059), Japan Society for the Promotion of Science (Grant No. C-18K04212), Taishan Scholar Special Project Fund (Grant No. TSQN20161026), and Natural Science Foundation of Jiangsu Province (Grant No. BK20170291).
Publisher Copyright:
© 2021, Science China Press and Springer-Verlag GmbH Germany, part of Springer Nature.
PY - 2021/9
Y1 - 2021/9
N2 - 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.
AB - 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.
KW - adaptive control
KW - command-filtered backstepping
KW - finite-time control
KW - immersion and invariance
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U2 - 10.1007/s11432-020-3144-6
DO - 10.1007/s11432-020-3144-6
M3 - Article
AN - SCOPUS:85103936309
SN - 1009-2757
VL - 64
JO - Science in China, Series F: Information Sciences
JF - Science in China, Series F: Information Sciences
IS - 9
M1 - 192202
ER -