Decentralised adaptive prescribed performance finite-time tracking control for a class of nonlinear interconnected systems with unknown control directions

Abstract

In this paper, the decentralized adaptive prescribed performance finite-time tracking control problem is investigated for a class of interconnected non-affine nonlinear systems with unmodeled dynamics, unknown control direction and unknown dead zone. A novel tracking control strategy combining Nussbaum-gain technique with finite-time control is presented. The designed controller can guarantee that tracking error of each subsystem is constrained by finite-time performance function and converges to the given neighborhood of the equilibrium point within a given arbitrarily settling time. Meanwhile, all the signals in the closed-loop interconnected system are bounded. In addition, the problem that the prescribed performance control method is difficult to realize decentralized control is solved by means of a special mathematical transformation. Specifically, the settling time is a design parameter which is independent of the system initial states in this method. The simulation results are presented to demonstrate the feasibility and superiority of the proposed control method.

KEYWORDS:

• Interconnected non-affine nonlinear systems
• unknown control direction
• decentralised control
• finite-time performance function
• backstepping technique

Acknowledgements

This work is supported by the National Science Foundation of China (61903169) and by the National Science Foundation of Liaoning Province of China (20180550319).

Disclosure statement

No potential conflict of interest was reported by the author(s).

Additional information

Funding

This work is supported by the National Science Foundation of China [grant number 61903169] and by the National Science Foundation of Liaoning Province of China [grant number 20180550319].