【摘 要】
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This paper investigates the problem of finite-time adaptive output tracking control for strict-feedback nonlinear systems with parametric uncertainties.Command signals and their derivatives are gen-erated by a new command filter based on a second-order fi
【机 构】
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School of Automation,Qingdao University,Qingdao 266071,China;School of Electrical and Electronic Eng
论文部分内容阅读
This paper investigates the problem of finite-time adaptive output tracking control for strict-feedback nonlinear systems with parametric uncertainties.Command signals and their derivatives are gen-erated by a new command filter based on a second-order finite-time differentiator,which attenuates the chattering phenomenon.The parameter estimations are achieved by an immersion and invariance approach without requiring the certainty equivalence principle.The finite-time adaptive controller is constructed via a backstepping design method,a finite-time command filter,and a modified fractional-order error compensa-tion mechanism.The proposed control strategy guarantees the finite-time boundedness of all signals in the closed-loop system,and the tracking error is driven into an arbitrarily small neighborhood of the origin in finite time.Finally,the new design technique is validated in a simulation example of the electromechanical system.
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