Robust Fuzzy Adaptive Finite-Time Control for High-Order Nonlinear Systems With Unmodeled Dynamics

Abstract

This article studies the problem of the robust fuzzy adaptive finite-time control design for a class of single-input single-output high-order nonlinear systems. The considered plants contain unknown nonlinear functions, unmodeled dynamics, and dynamical disturbances. In this control design, fuzzy logic systems are utilized to approximate unknown nonlinear functions, and dynamical signal functions are introduced to solve unmodeled dynamics and dynamical disturbances. Under the framework of an adaptive backstepping control and adding a power integrator control design technique, a robust fuzzy adaptive finite-time control scheme is developed, which can not only guarantee the controlled system to be semiglobal practical finite-time stable, but also have the robustness to unmodeled dynamics and dynamical disturbances. Both numerical and practical simulation examples are provided to check the effectiveness of the proposed control method.