Finite-time convergence backstepping control for a class of uncertain affine nonlinear systems based on disturbance observer

被引：0
|
作者：
Zhang Q. [1 ]
Xu H. [1 ]
Xu D.-Z. [2 ]
Wang C.-G. [1 ]
机构：
[1] School of Electrical Engineering, University of Jinan, Jinan, 250022, Shandong
[2] School of Internet of Things Engineering, Jiangnan University, Wuxi, 214122, Jiangsu
来源：
Kongzhi Lilun Yu Yingyong/Control Theory and Applications | 2020年 / 37卷 / 04期
基金：
中国国家自然科学基金;
关键词：
Backstepping; Barrier function; Cerebellar model articulation controller; Disturbance observer; Finite-time convergence;
D O I：
10.7641/CTA.2019.90339
中图分类号：
学科分类号：
摘要：
This work studies an observer-based finite-time tracking control technique for a class of uncertain affine nonlinear system. To improve generalization and learning ability of cerebellar model articulation controller (CMAC), asymmetrical fuzzy CMAC is presented based on asymmetrical Gaussian function and fuzzy logic, and disturbance observer is proposed to estimate unknown compound disturbance. Furthermore, finite-time backstepping controller is designed to force compensation errors and tracking errors to zero in finite time, where a nonlinear differentiator is employed to avoid "explosion of complexity"and an adaptive barrier function-based sliding mode robust term is proposed to compensate disturbance estimation error. The stability of closed-loop system is proved by Lyapunov theory. Finally, the control scheme is applied to an unmanned aerial vehicle, and the simulation results illustrate the effectiveness. © 2020, Editorial Department of Control Theory & Applications South China University of Technology. All right reserved.
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页码：747 / 757
页数：10
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