Finite-Time Command Filtered Tracking Control for Time-Varying Full State-Constrained Nonlinear Systems With Unknown Input Delay

Abstract

For time-varying full state-constrained nonlinear systems with unknown input delay, the finite-time command filtered tracking control issue is considered in this brief. The Barrier Lyapunov functions (BLFs) are employed to ensure that all states in the system are kept within the time-varying constraints. Then, a novel finite-time compensation signal is introduced to eliminate the impacts of the unknown input delay. Combining the backstepping approach and the finite-time command filtering technology, the designed controller can guarantee the convergence of the tracking error at the origin and the boundedness of all closed-loop signals, and reduce the complexity of the controller design. In the end, a practical instance is simulated to verify the availability and feasibility of the proposed approach.