Finite-time command filtered adaptive control for nonlinear systems via immersion and invariance

作     者：Jinpeng YU Peng SHI Xinkai CHEN Guozeng CUI Jinpeng YU;Peng SHI;Xinkai CHEN;Guozeng CUI

作者机构：School of Automation Qingdao University School of Electrical and Electronic Engineering The University of Adelaide Department of Electronic and Information Systems Shibaura Institute of Technology School of Electronic and Information Engineering Suzhou University of Science and Technology 

出 版 物：《Science China(Information Sciences)》 (中国科学:信息科学(英文版))

年 卷 期：2021年第64卷第9期

页      面：151-164页

核心收录：

学科分类：0711[理学-系统科学] 07[理学] 08[工学] 081101[工学-控制理论与控制工程] 0811[工学-控制科学与工程] 071102[理学-系统分析与集成] 081103[工学-系统工程] 

基　　金：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) Natural Science Foundation of Jiangsu Province (Grant No. BK20170291) 

主　　题：adaptive control finite-time control command-filtered backstepping immersion and invariance 

摘      要：This paper investigates the problem of finite-time adaptive output tracking control for strictfeedback 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.