Adaptive Finite-Time Control for Stochastic Nonlinear Systems Using Multi-Dimensional Taylor Network

In this paper, the problem of adaptive finite-time multi-dimensional Taylor network (MTN) control for a class of stochastic nonlinear systems is investigated. By combining the MTN-based approximate method and adaptive backstepping technique, a novel adaptive finite-time MTN control scheme is proposed. In this scheme, the MTNs are used to approximate the unknown nonlinear functions of the systems. The finite-time Lyapunov stability theory is utilized to prove the stability of the close-loop system. The proposed scheme can ensure that all signals in the closed-loop system are bounded in probability and the tracking error converges to a small neighborhood of the origin in a finite time. Three simulation examples are presented to show the effectiveness of the control scheme. It should be pointed that the adaptive MTN controller proposed in this paper has the advantages of fast computational speed and good real-time performance thanks to the simple structure of the MTN.

Transactions of the Institute of Measurement and Control