Observer-based Finite-time Adaptive Prescribed Performance Control for Nonlinear Systems with Input Delay

In this article, the observer-based adaptive finite-time prescribed performance control issue is studied for a category of nonlinear systems with external disturbances and input delay. The fuzzy logic systems are employed to model the unknown nonlinear terms in the system. The Pade approximation met...

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Bibliographic Details
Published in:International journal of control, automation, and systems 2022, Automation, and Systems, 20(5), , pp.1428-1438
Main Authors: Qi, Xiaojing, Liu, Wenhui, Lu, Junwei
Format: Article
Language:English
Subjects:
Adaptive control
Control
Control methods
Control systems design
Control theory
Controllers
Delay
Engineering
Feedback control
Fuzzy control
Fuzzy logic
Fuzzy systems
Mechatronics
Nonlinear control
Nonlinear systems
Pade approximation
Regular Papers
Robotics
State observers
Tracking errors
제어계측공학
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Summary:In this article, the observer-based adaptive finite-time prescribed performance control issue is studied for a category of nonlinear systems with external disturbances and input delay. The fuzzy logic systems are employed to model the unknown nonlinear terms in the system. The Pade approximation method is utilized to deal with the input delay problem. To estimate the unmeasurable states in the system, a fuzzy state observer is established. By using the finite-time Lyapunov control theory and the backstepping technique, a finite-time adaptive fuzzy controller is designed. The controller can guarantee that the tracking error converges to a prescribed region in a finite time and the boundedness of all signals in the closed-loop system. Finally, a simulation example is included to verify the validity and feasibility of the control method.
ISSN:1598-6446
2005-4092
DOI:10.1007/s12555-021-0221-y