Adaptive practical preassigned finite‐time stability for a class of pure‐feedback systems with full state constraints
INTERNATIONAL JOURNAL OF ROBUST AND NONLINEAR CONTROL(2019)
摘要
This paper focuses on an adaptive practical preassigned finite-time control problem for a class of unknown pure-feedback nonlinear systems with full state constraints. Two new concepts, called preassigned finite-time function and practical preassigned finite-time stability, are defined. In order to achieve the main result, the pure-feedback system is first transformed into an affine strict-feedback nonlinear system based on the mean value theorem. Then, an adaptive preassigned finite-time controller is obtained based on a modified barrier Lyapunov function and backstepping technique. Finally, simulation examples are exhibited to demonstrate the effectiveness of the proposed scheme.
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关键词
adaptive backstepping control,barrier Lyapunov functions,full state constraints,practical preassigned finite-time stability,pure-feedback systems
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