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

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Abstract

This paper investigates the problem of finite-time adaptive output tracking control for strict-feedback 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.

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Acknowledgements

This work was 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), and Natural Science Foundation of Jiangsu Province (Grant No. BK20170291).

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Authors and Affiliations

  1. School of Automation, Qingdao University, Qingdao, 266071, China

    Jinpeng Yu & Guozeng Cui

  2. School of Electrical and Electronic Engineering, The University of Adelaide, Adelaide, SA, 5005, Australia

    Peng Shi

  3. Department of Electronic and Information Systems, Shibaura Institute of Technology, Saitama, 337-8570, Japan

    Xinkai Chen

  4. School of Electronic and Information Engineering, Suzhou University of Science and Technology, Suzhou, 215009, China

    Guozeng Cui

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  1. Jinpeng Yu
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  2. Peng Shi
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  3. Xinkai Chen
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  4. Guozeng Cui
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Correspondence to Jinpeng Yu.

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Yu, J., Shi, P., Chen, X. et al. Finite-time command filtered adaptive control for nonlinear systems via immersion and invariance. Sci. China Inf. Sci. 64, 192202 (2021). https://doi.org/10.1007/s11432-020-3144-6

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  • DOI: https://doi.org/10.1007/s11432-020-3144-6

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