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Robust adaptive finite time command filtered backstepping control for uncertain output constrained strict-feedback nonlinear systems

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Abstract

This paper proposes a robust adaptive finite time command filtered backstepping control strategy for uncertain output constrained nonlinear systems in strict-feedback form with uncertain parameters and external disturbances. The robust adaptive finite time control technique is constructed by combining the barrier Lyapunov function (BLF) and the finite time control theory into the command filtered backstepping control method. The designed robust adaptive controller is introduced to solve the issue of the explosion of complexity, the compensating signals are designed to avoid the influence of the known filtering errors caused by the command filters and the output constraint is not violated. The designed robust adaptive control method can guarantees that all the signals in the closed-loop system are practical finite time stable, and the tracking errors converge to a small neighbourhood of the origin in a finite time. Simulation results are given to demonstrate the efficiency of the proposed robust adaptive control approach compared to the robust adaptive finite time command filtered backstepping control method that system output without constraint.

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Data availability

The data that support the findings of this study are available from the corresponding author upon reasonable request.

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Author information

Authors and Affiliations

  1. Research Center in Industrial Technologies CRTI, P. O. Box. 64, Cheraga 16014, Algiers, Algeria

    Yassine Soukkou

  2. Renewable Energy Laboratory, Faculty of Science and Technology, Department of Electronics, University of MSB Jijel, BP. 98, Ouled Aissa, Jijel, Algeria

    Ammar Soukkou & Sofiane Haddad

  3. LCP, Department of Automatic Control, National Polytechnic School of Algiers (ENP), 10, Av. Hassen Badi, BP. 182, Algiers, Algeria

    Mohamed Tadjine

  4. Department of Engineering Design and Mathematics, University of the West of England, Frenchay Campus, Coldharbour Lane, Bristol, BS16 1QY, UK

    Mokhtar Nibouche

  5. Physics Department, Faculty of Science, Islamic University of Madinah, Madinah, 41477, Saudi Arabia

    Mohamed Benghanem

Authors
  1. Yassine Soukkou
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  2. Ammar Soukkou
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  3. Mohamed Tadjine
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  4. Mokhtar Nibouche
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  5. Sofiane Haddad
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  6. Mohamed Benghanem
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Contributions

Yassine Soukkou contributed to conceptualization, visualization, methodology, software, resources, formal analysis, investigation, and writing—original draft. Ammar Soukkou helped in conceptualization, resources, review and editing. Mohamed Tadjine helped in visualization, supervision, review and editing. Mokhtar Nibouche helped in visualization, supervision, review and editing. Sofiane Haddad helped in resources, review and editing. Mohamed Benghanem contributed to resources, review and editing.

Corresponding author

Correspondence to Yassine Soukkou.

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Soukkou, Y., Soukkou, A., Tadjine, M. et al. Robust adaptive finite time command filtered backstepping control for uncertain output constrained strict-feedback nonlinear systems. Int. J. Dynam. Control 12, 1436–1446 (2024). https://doi.org/10.1007/s40435-023-01255-w

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  • DOI: https://doi.org/10.1007/s40435-023-01255-w

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