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- Title
Barrier function based finite‐time tracking control for a class of uncertain nonlinear systems with input saturation.
- Authors
Zhang, Xinyu; Li, Hui; Li, Gun; Kang, Junjie; Zhu, Zheng H.
- Abstract
In this article, a novel robust finite‐time tracking control scheme is proposed for a class of uncertain nonlinear systems subject to the model uncertainty, external disturbance, and input saturation. A barrier function based disturbance observer (BFDO) with finite‐time convergence performance is developed to estimate the non‐smooth nonlinear compound disturbance, which includes the uncertainty, disturbance of system and input saturation. In addition, an adaptive continuous nonsingular terminal sliding mode controller, based on the barrier function and the estimate of the BFDO is developed. The Lyapunov stability and finite‐time convergence of the proposed control scheme are proved. The effectiveness and performance advantage of the proposed control scheme is demonstrated by numerical simulations and comparison with existing works.
- Subjects
NONLINEAR systems; UNCERTAIN systems; TRACKING control systems; LYAPUNOV stability; ROBUST control; SLIDING mode control; COMPUTER simulation
- Publication
International Journal of Robust & Nonlinear Control, 2022, Vol 32, Issue 1, p83
- ISSN
1049-8923
- Publication type
Article
- DOI
10.1002/rnc.5803