Fixed-Time Command-Filtered Adaptive Backstepping Control for a Class of Uncertain MIMO Systems

Abstract

This paper studies the fixed-time tracking control for multi-input multi-output (MIMO) nonlinear systems with uncertainties and external disturbances. Based on command-filtered technique, an adaptive fixed-time backstepping control method is proposed. Compared with the existing finite-time control, the settling time does not depend on initial conditions. The prediction error generated by the serial-parallel estimation model is combined with error compensation signal to construct a network adaptive law for weight updating. Meanwhile, the external disturbance and network approximation error compose lumped disturbance, which is estimated by the adaptive disturbance observer. Through strict theoretical analysis, the tracking error converges to a small neighborhood of the origin within a fixed time and all signals in the control system are bounded. Two simulation examples are given to demonstrate the benefits of the presented method.

DOI: 10.61416/ceai.v25i4.8004