Adaptive disturbance observer-based finite-time command filtered control of nonlinear systems

Abstract

This article examines the finite-time trajectory tracking control problem for a category of nonlinear perturbed systems. A novel observation mechanism is constructed to mitigate the effects of complex system disturbances. Then, a new adaptive finite-time backstepping nonlinear control algorithm is designed by integrating this disturbance observer with a command filter method. The synthesized control strategy not only effectively suppresses external disturbances and avoids the differential explosion problem of traditional backstepping methods but also ensures the convergence of the trajectory tracking error and filtering error compensation signal within a finite time. Finally, the validity of the suggested approach is confirmed via comparative simulations.