Adaptive finite-time tracking control for nonlinear systems with unmodeled dynamics using neural networks

Abstract

Abstract This paper presents a novel adaptive finite-time tracking control scheme for nonlinear systems. During the design process of control scheme, the unmodeled dynamics in nonlinear systems are taken into account. The radial basis function neural networks (RBFNNs) are adopted to approximate the unknown nonlinear functions. Meanwhile, based on RBFNNs, the assumptions with respect to unmodeled dynamics are also relaxed. This paper provides a new finite-time stability criterion, making the adaptive tracking control scheme more suitable in the practice than traditional methods. Combining RBFNNs and the backstepping technique, a novel adaptive controller is designed. Under the presented controller, the desired system performance is realized in finite time. Finally, a numerical example is presented to demonstrate the effectiveness of the proposed control method.

Keywords

• Nonlinear systems
• Unmodeled dynamics
• Adaptive control
• Backstepping
• Radial basis function neural networks
• Finite-time stability