Adaptive Finite‐time Tracking Control of Nonlinear Systems Subject to Input Hysteresis and Multiple Objective Constraints

In this article, the problem of adaptive finite-time tracking control for a class of nonlinear systems subject to backlash-like input hysteresis and multiple objective constraints is investigated. For the purpose of realizing multiple objective constraints, a new time-varying barrier function (TVBF) is introduced to ensure that all objective constraint functions are always within the defined range. Meanwhile, based on the combination of the command filter approach and adaptive backstepping control, an error compensation system (ECS) is supplied to reduce the impact of filter error on control performance. Additionally, the problem of "singularity" caused by hysteresis is avoided by linearizing the backlash-like hysteresis model, and Nussbaum-type function is also applied to reduce the influence of hysteresis on the stability of the system. Then, by combining multi-dimensional Taylor network (MTN) technology and command filter backstepping approach, an adaptive finite-time control strategy is designed. The proposed control strategy ensures that all the signals in the closed-loop system realize finite-time semi-globally uniformly ultimately bounded (SGUUB), and the output signal of the system can track the reference signal greatly while adhering to multiple objective constraints. Finally, the effectiveness of the proposed control strategy is verified by a practical simulation example.

International Journal of Control