Adaptive Tracking Control for a Class of Nonlinear MIMO Systems: A Quasi-Fast Finite-Time Design Technique

Abstract

In this paper, we investigate the problem of adaptive finite-time tracking control for a class of nonlinear multi-input and multi-output (MIMO) systems with a state coupling relationship between subsystems, which is called the structure of nonstrict-feedback. Based on the quasi-fast finite-time design technique, an adaptive controller is obtained for the considered MIMO systems. The advantages of the presented control scheme lie in that the “explosion of complexity” problem in the backstepping process is solved by utilizing the command filter technique, and the design difficulties caused by nonstrict-feedback structure are also overcome. It is shown that all the signals in the closed-loop system are bounded and the convergence performance with the bounded tracking errors is guaranteed in a finite time. Finally, a practical example is given to show the effectiveness of the proposed method.

Keywords

• Adaptive control
• backstepping
• finite-time control
• nonlinear multi-input and multi-output systems