Observer-based Finite-time Adaptive Robust Tracking Control for Nonlinear Stochastic Time-delay Systems With Full State Constraints and Input Saturation

This paper considers the problem of observer-based adaptive finite-time control for a class of uncertain nonlinear stochastic systems with input saturation, time-varying delay and full state constraints. An adaptive design approach is adopted to deal with saturated input non-linearities which are not required to know any information. Based on the growth restrictions are removed, Lyapunov-Krasovskii functional is imposed to eliminate the influence of time-varying delay. Owing to the unmeasurable and constrained states, the state observer and barrier Lyapunov function are adopted via the controller construction process. Under a criterion of semi-globally finite-time stability in probability (SGFSP), the constructed adaptive finite-time controller can guarantee that all the states in the system are not violated. Finally, the effectiveness of the control scheme is verified by the ultimate simulation results of a chemical reactor system.