Practical finite-time almost disturbance decoupling strategy for uncertain nonlinear systems

Abstract

A new practical finite-time almost disturbance decoupling result is presented for a class of strict-feedback nonlinear systems with multiple disturbances. Meanwhile, a novel performance function called finite-time performance function is first defined. Further, a practical finite-time tracking controller is designed by means of prescribed performance control, almost disturbance decoupling and backstepping technique. The designed controller makes the output error converge to a predefined arbitrary small area within a finite-time interval. The proposed design method is simpler and is easier to be achieved. Finally, it can be found from simulation examples that the effectiveness and superiority of this work is illustrated well.