The problem of finite-time tracking control is discussed for a class of uncertain nonstrict-feedback time-varying state delay nonlinear systems with full-state constraints and unmodeled dynamics. Different from traditional finite-control methods, a
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smooth finite-time adaptive control framework is introduced by employing a smooth switch between the fractional and cubic form state feedback, so that the desired fast finite-time control performance can be guaranteed. By constructing appropriate Lyapunov-Krasovskii functionals, the uncertain terms produced by time-varying state delays are compensated for and unmodeled dynamics is coped with by introducing a dynamical signal. In order to avoid the inherent problem of “complexity of explosion” in the backstepping-design process, the DSC technology with a novel nonlinear filter is introduced to simplify the structure of the controller. Furthermore, the results show that all the internal error signals are driven to converge into small regions in a finite time, and the full-state constraints are not violated. Simulation results verify the effectiveness of the proposed method.
Safe Tracking Control of an Uncertain Euler-Lagrange System with Full-State Constraints using Barrier Functions
