Adaptive finite time tracking control for the perturbed nonlinear systems by using backstepping technique and a fast tracking differentiator

Abstract

In this work, the fast tracking control issue is researched for the pure-feedback nonlinear systems in the case of compound disturbances. Based on the stability theory, a new nonlinear tracking-differentiator with a fast convergence rate is developed by using two nonlinear terminal terms and one linear term, which ensures that the system state converges to the equilibrium quickly. The chatter phenomenon can be well attenuated owing to the application of continuous functions contained in tracking-differentiator?Next, the combination of tracking-differentiator and adaptive backstepping control technique is adopted to devise the tracking controller for the uncertain systems. The problem of complexity explosion occurring in the bacstepping control can be nicely addressed by using newly designed tracking-differentiator. The proposed tracking control scheme can make the output signal track the reference signal in a limited time. In the end, a numerical example is given to show the effectiveness of obtained results.

DOI: 10.61416/ceai.v26i2.8703