Adaptive Fuzzy Finite-Time Backstepping Control of Nonlinear Systems with Input Constraint and Hysteresis Nonlinearity
作者单位：School of AutomationBeijing Institute of Technology
会议名称：《第40届中国控制会议》
会议日期：2021年
学科分类：08[工学] 0835[工学-软件工程] 0802[工学-机械工程] 080201[工学-机械制造及其自动化]
关 键 词：Hysteresis Input Constraint Backstepping Fuzzy Logic Systems Finite Time Tracking
摘 要：This paper investigates the adaptive finite-time tracking control issue for a class of nonlinear systems with input constraint,hysteresis nonlinearity,unmeasured states,and external *** on the fuzzy logic systems（FLSs）,a fuzzy state observer（FSO） is first designed to estimate the unmeasured ***,by using the finite-time stability theory,a novel backstepping control scheme is proposed without constructing the hysteresis *** problem of explosion of complexity caused by the derivative of virtual controllers is eliminated by utilizing the low-pass ***,a saturation dynamic filter is employed to address the input *** is proved that the proposed controller guarantees that all the closed signals are semi-global practical finite-time stability（SGPFS）,and the tracking error converges to a neighbourhood of the ***,simulation results are presented to validate the effectiveness of the proposed control scheme.