Finite-Time Command Filtering-Based Adaptive Backstepping Control of High-Order Uncertain Nonlinear Strict-Feedback Systems with Output Constraint
摘要
This article cope with the finite-time command filtering-based adaptive controller for output constrained high-order nonlinear strict-feedback systems under uncertain parameters. Finite-time command filtering technology is incorporated to handle the explosion of complexity, as well as the singularity difficulties raised from the multiple derivation of the virtual controllers appeared in the conventional backstepping approach. A filtering compensation scheme is constructed to tackle the filtering errors raised from the command filtering. The barrier Lyapunov function (BLF) is utilized to handle the system output constraint, and stability criterion of the controlled system is presented through the Lyapunov method to prove that the overall system is practical finite-time stable. The results of simulation illustrate the validity of the suggested adaptive control scheme.