Finite-Time Adaptive Fuzzy Tracking Control for a Class of Nonlinear Systems With Full-State Constraints

In this article, a new command filtered backstepping based finite-time adaptive fuzzy tracking control scheme for a class of unknown nonlinear systems with full-state constraints is established. First, the proposed finite-time command filter will filtering the virtual control signal and get the intermediate control signal within finite-time, so the problem of calculating complexity will not occur in the backstepping process. Then, the fraction-power-based error compensate signal is set up, which can eliminate the influence of filtering error on the control performance. Considering that the unknown nonlinearities exist in the system, the fuzzy logic system based adaptive control technique is used to deal with them, and only one parameter needs to be estimated. It is shown that the states will not violate the prescribed constrains, all the signals in the closed-loop system are bounded in finite-time and the tracking error can converge to the desired neighborhood of the origin in finite time under the barrier Lyapunov function and fraction-power-based virtual control signals. Finally, the effectiveness of the control method is shown by the simulations.