Constrained fast finite-time exact tracking for disturbed nonlinear systems

Xiang Chen, Shiqi Zheng, Choon Ki Ahn, Yuanlong Xie, Peng Shi

Research output: Contribution to journalArticlepeer-review

4 Citations (Scopus)


This article investigates the fast finite-time exact tracking problem for nonlinear systems with time-varying disturbances. A new composite controller with a finite-time disturbance observer is proposed to achieve fast finite-time exact tracking. Furthermore, a new time-varying barrier power integrator technique is developed to design the controller. This can ensure not only asymmetric/symmetric time-varying full-state constraints but also singular-free continuous control effort. To reduce the complexity of computation, fuzzy logic systems are adopted to approximate complex nonlinearities. Finally, an example of single-link robot systems subject to time-varying disturbances is presented to show the validity of the proposed method.

Original languageEnglish
Pages (from-to)4376-4400
Number of pages25
JournalInternational Journal of Robust and Nonlinear Control
Issue number7
Publication statusPublished - 2022 May 10

Bibliographical note

Funding Information:
Higher Education Discipline Innovation Project, B17040; National Natural Science Foundation of China, 52105019; 61703376; National Research Foundation of Korea, NRF‐2020R1A2C1005449; Open Research Projects of Zhejiang Lab Funding information

Funding Information:
The work was supported in part by the National Natural Science Foundation of China (Grant No. 52105019, No. 61703376), Open Research Projects of Zhejiang Lab, 111 project (Grant No. B17040) and in part by the National Research Foundation of Korea (NRF) grant funded by the Korea government (Ministry of Science and ICT) under Grant NRF‐2020R1A2C1005449.

Publisher Copyright:
© 2022 John Wiley & Sons Ltd.


  • fast finite-time tracking control
  • finite-time disturbance observer
  • full-state constraints
  • nonlinear systems

ASJC Scopus subject areas

  • Control and Systems Engineering
  • General Chemical Engineering
  • Biomedical Engineering
  • Aerospace Engineering
  • Mechanical Engineering
  • Industrial and Manufacturing Engineering
  • Electrical and Electronic Engineering


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