Finite‐time tracking control for second‐order nonlinear systems with prescribed performance subject to mismatched disturbances

• Published in: International journal of robust and nonlinear control Vol. 32; no. 18; pp. 10309 - 10325
• Main Authors: Wang, Xinming, Wang, Zuo, Sun, Haibin, Li, Shihua
• Format: Journal Article
• Language: English
• Published: Bognor Regis Wiley Subscription Services, Inc 01.12.2022
• Subjects: adding a power integrator method; Control systems design; disturbance observer; Disturbance observers; finite‐time control; mismatched disturbance; Nonlinear systems; prescribed performance control; Reference signals; Stability analysis; Tracking control
• ISSN: 1049-8923; 1099-1239
• DOI: 10.1002/rnc.6395

In this article, a composite finite‐time control scheme with prescribed performance is investigated for a class of second‐order nonlinear system in presence of both matched and mismatched time‐varying disturbances. Under the prescribed performance control framework, asymmetric dynamic and steady performances are explicitly considered by selecting related performance functions. Then, based on the adding a power integrator technique and the finite‐time disturbance observers, a composite finite‐time prescribed performance tracking controller is designed such that the system output can track the desired reference signal in finite time even in presence of mismatched disturbances. The finite‐time stability of the closed‐loop system is analyzed rigorously. Finally, comparative numerical simulations are conducted to verify the effectiveness of the proposed control scheme.