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Fast finite-time command filter-based adaptive composite tracking control for nonlinear systems

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Abstract

This paper investigates the fast finite-time (FFT) command filter-based adaptive composite tracking control problem for strict-feedback nonlinear systems subject to uncertain parameters and external disturbances. By introducing the adaptive control methodology, the uncertain parameters existing in the considered system can be estimated online. Then, by using the command-filter technology and adaptive disturbance observers, the composite adaptive laws are developed. They can make the FFT approximation performances for the uncertain parameters be achieved. In particular, in order to fill the capacity of using the serial-parallel estimation models (SPEMs) to improve the approximation of adaptive parameters, which is not available in the current literatures, the SPEMs are first tried to improve the estimation performance for the unknown parameters and, for dealing with the ‘explosion of complexity’ problem during the fast finite-time controller design procedure, an FFT convergence command filter is developed to handle such problem. By utilizing the backstepping control technique, a novel adaptive FFT tracking controller is developed. Moreover, it can guarantee that all the internal signals are bounded and the system output can track the reference signal within finite-time interval. Eventually, the utilizability of the proposed controller is provided by the simulation example.

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Acknowledgements

This work is supported in part by the National Natural Science Foundation of China under Grant No. 51939001, No. 61976033 and No. 62173046, and in part by the Liaoning Revitalization Talents Program under Grant No. XLYC1908018.

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Authors and Affiliations

  1. The Navigation College, Dalian Maritime University, Dalian, 116026, China

    Siwen Liu

  2. The School of Automation Engineering, University of Electronic Science and Technology of China, Chengdu, 610054, China

    Tieshan Li

  3. The Yangtze Delta Region Institute, University of Electronic Science and Technology of China, Huzhou, 313000, China

    Tieshan Li

  4. The Navigation College, Dalian Maritime University, Dalian, 116026, China

    Tieshan Li

  5. The College of Mathematical Sciences, Bohai University Jinzhou, Liaoning, 121000, China

    Huanqing Wang

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  1. Siwen Liu
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Correspondence to Huanqing Wang.

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Liu, S., Li, T. & Wang, H. Fast finite-time command filter-based adaptive composite tracking control for nonlinear systems. Nonlinear Dyn 111, 3393–3409 (2023). https://doi.org/10.1007/s11071-022-08006-0

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