Adaptive fuzzy finite-time tracking control of nonlinear systems with unmodeled dynamics

Abstract

This paper considers an adaptive fuzzy finite-time tracking control issue for uncertain nonlinear systems in the presence of unmodeled dynamics via the backstepping technique. In the design procedure, the traditional dynamic signal structure is improved firstly such that it is suitable for the controller design within finite-time interval universally for the controlled systems and it can be utilized to dominate the unmodeled dynamics. The dynamic disturbances are compensated by nonlinear damping terms. The fuzzy logic systems (FLSs) are used to package the unknown nonlinearities. By constructing the appropriate Lyapunov functions in recursive step and employing the finite-time stability theorem, the developed FLS-based adaptive tracking control strategy within finite-time interval, which ensures the boundedness of all the closed-loop signals and the convergence of tracking error. In the end, simulation results are provided to test the availability of the developed strategy.