Adaptive prescribed finite-time asymptotic tracking control for switched systems with unknown initial conditions and full-state constraints

Abstract

In this paper, an adaptive prescribed finite-time asymptotic tracking control problem is considered for the unknown nonlinear switched systems with unknown initial conditions and full-state constraints. A class of nonlinear mappings (NMs) and a new prescribed finite-time performance function (PFTPF) are introduced so that the control design is independent of initial conditions of the controlled states. Based on the neural network approximation approach, NMs, PFTPF and the Barbalat's lemma, an adaptive prescribed finite-time asymptotic tracking controller with full-state constraints is obtained. To avoid overlarge initial control input, the design method with zero initial control input is adopted, the definition of input tuning function (ITF) is expanded and its effectiveness is proved theoretically. As results, the full-state constraints and the boundedness of all the signals in the closed-loop system are guaranteed, and the tracking error of the system can converge to zero asymptotically. Finally, the effectiveness and superiority of the proposed scheme are verified by the simulation results.