Finite-time tracking control for strict-feedback nonlinear systems with full state constraints

ABSTRACT

In this paper, an adaptive finite-time controller is considered for a class of strict-feedback nonlinear systems with parametric uncertainties and full state constraints. Novel tan-type barrier Lyapunov functions are proposed to ensure the boundedness of the fictitious state tracking errors. A new tuning function is constructed to eliminate the effect of uncertainties by using the extended finite-time stability condition. It is shown that under the proposed backstepping control scheme the finite-time convergence of system output tracking error to a small set around zero is realised and the full state constraints are not violated. A numerical example is provided to demonstrate the effectiveness of the proposed finite-time control scheme.

KEYWORDS:

• Finite-time
• full state constraints
• barrier Lyapunov function
• backstepping

Disclosure statement

No potential conflict of interest was reported by the authors.

Additional information

Funding

This work is supported by the National Natural Science Foundation (NNSF) of China [grant number 61673243], [grant number 61273091], [grant number 61303198]; the Taishan Scholar Project of Shandong Province of China [grant number TS20120529]; the PhD Programs Foundation of Ministry of Education of China [grant number 20123705110002].