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.
|Number of pages
|International Journal of Robust and Nonlinear Control
|Published - 2022 May 10
Bibliographical noteFunding 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
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.
© 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