Finite-time Control for Nonlinear Systems with Full-state Constraints

This paper considers the problem of finite-time tracking control for a class of nonlinear systems with asymmetric full-state constraints. To deal with the asymmetric full-state constraints, a nonlinear state-constrained function is constructed. A new finite-time tracking control strategy is proposed by using the designed nonlinear state-constrained function and backstepping approach. Meanwhile, to cope with the explosion of complexity problem of the traditional backstepping approach, the dynamic surface control method with first-order filter is introduced. The new design controller can not only ensure the finite-time convergent property of the all signals in the resulting system and tracking error, but also guarantee each state is constrained in the predefined region. Finally, the effectiveness of the obtained results is shown by illustrative example.