Adaptive Fuzzy Finite-Time Prescribed Performance Tracking Control for Strict-Feedback Nonlinear Systems with Unknown Control Directions and Input Dead-Zone
Abstract: The adaptive fuzzy finite-time prescribed performance tracking control problem is stressed for a class of uncertain strict-feedback nonlinear systems with unknown control directions and input dead-zone in this paper. The fuzzy logic systems are introduced to approximate the unknown nonlinearities. Firstly, by adopting a characteristic function, the input dead-zone is converted as a linear model with bounded perturbation. Then, an adaptive fuzzy controller based on command filter is built to settle the ``computation complexity" issue. Meanwhile, the Nussbaum function is implemented in controller design to counter the hardship of unknown control directions. Besides, the tracking error can be restricted in the prescribed boundary in finite time with the designed performance function. The presented control scheme can not only release computation burden, but also guarantee the finite-time convergence property of tracking error and the boundedness of all signals in the closed-loop system. Finally, the simulation examples illustrate the validity of the designed control scheme.
Submission Number: 229
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