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

Abstract

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.