Adaptive finite-time tracking control of full state constrained nonlinear systems with dead-zone

• Published in: Automatica (Oxford) Vol. 100; pp. 99 - 107
• Main Authors: Li, Hongyi, Zhao, Shiyi, He, Wei, Lu, Renquan
• Format: Journal Article
• Language: English
• Published: Elsevier Ltd 01.02.2019
• Subjects: Adaptive finite-time control; Barrier Lyapunov functions; Dead-zone; Full state constraints; Nonlinear systems; Barrier Lyapunov functions; Nonlinear systems; Dead-zone; Full state constraints; Adaptive finite-time control
• ISSN: 0005-1098; 1873-2836
• DOI: 10.1016/j.automatica.2018.10.030

This paper investigates the problem of adaptive finite-time tracking control for strict-feedback nonlinear continuous-time systems subject to full state constraints and dead-zone. By utilizing the finite-time stability theory, barrier Lyapunov functions and the adaptive backstepping method, a novel adaptive tracking control strategy is proposed. On the basis of the presented method, the finite-time control problem of the nonlinear system with dead-zone is solved. The finite-time controller is designed such that all the signals in the closed-loop system are bounded, the output is driven to track the reference signal to a small neighborhood and all states are ensured to remain in the predefined compact sets. Finally, the effectiveness of the proposed scheme is verified via some simulation results.