Finite-Time Adaptive Fuzzy Control for MIMO Nonlinear Systems With Input Saturation via Improved Command-Filtered Backstepping

• Published in: IEEE transactions on systems, man, and cybernetics. Systems Vol. 52; no. 2; pp. 980 - 989
• Main Authors: Cui, Guozeng, Yu, Jinpeng, Wang, Qing-Guo
• Format: Journal Article
• Language: English
• Published: New York IEEE 01.02.2022; The Institute of Electrical and Electronics Engineers, Inc. (IEEE)
• Subjects: Adaptive control; Adaptive fuzzy control; Backstepping; command-filtered backstepping (CFB); Electronic countermeasures; Error compensation; Feedback control; finite-time control; Fuzzy control; MIMO (control systems); MIMO communication; multi-input and multi-output (MIMO) nonlinear systems; Nonlinear control; Nonlinear systems; Saturation; Tracking control; Tracking errors
• ISSN: 2168-2216; 2168-2232
• DOI: 10.1109/TSMC.2020.3010642

In this article, the problem of finite-time adaptive fuzzy tracking control for multi-input and multi-output (MIMO) nonlinear systems with input saturation is investigated. The new finite-time command filter is introduced for generating command signals and their derivatives to work out the matter of "explosion of complexity," and the modified fractional power-based error compensation mechanism (ECM) serves as removing the effect of filter error. Then, the finite-time adaptive control scheme is established via the backstepping recursive design technique. It guarantees all the signals of the closed-loop system (CLS) are finite-time bounded while the output tracking errors are regulated to a sufficiently small neighborhood of the origin in finite time. Finally, the effectiveness of the proposed finite-time control scheme is verified by a numerical comparison example.