Neuroadaptive tracking control of uncertain nonlinear systems with spatiotemporal constraints

Abstract

This study investigates the neuroadaptive tracking control problem for a class of strict-feedback nonlinear systems with spatiotemporal constraints. An adaptive neural network-based control system is developed to alleviate the effects of modeling uncertainties and external disturbances. In particular, the proposed method ensures that the system tracking error has a predefined performance boundary (spatial constraint). Moreover, using a novel time-scale transformation method, uncertain nonlinear systems can achieve a prescribed finite-time convergence to a time-varying scaling function in the pointing position (temporal constraint). Finally, the efficiency of the proposed method is verified with two simulation examples.