Constrained fast finite-time exact tracking for disturbed nonlinear systems
- Authors
- Chen, Xiang; Zheng, Shiqi; Ahn, Choon Ki; Xie, Yuanlong; Shi, Peng
- Issue Date
- 10-5월-2022
- Publisher
- WILEY
- Keywords
- fast finite-time tracking control; finite-time disturbance observer; full-state constraints; nonlinear systems
- Citation
- INTERNATIONAL JOURNAL OF ROBUST AND NONLINEAR CONTROL, v.32, no.7, pp.4376 - 4400
- Indexed
- SCIE
SCOPUS
- Journal Title
- INTERNATIONAL JOURNAL OF ROBUST AND NONLINEAR CONTROL
- Volume
- 32
- Number
- 7
- Start Page
- 4376
- End Page
- 4400
- URI
- https://scholar.korea.ac.kr/handle/2021.sw.korea/140397
- DOI
- 10.1002/rnc.6037
- ISSN
- 1049-8923
- Abstract
- 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.
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