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Observer-based Finite-time Adaptive Prescribed Performance Control for Nonlinear Systems with Input Delay

Xiaojing Qi, Wenhui Liu*, and Junwei Lu
International Journal of Control, Automation, and Systems, vol. 20, no. 5, pp.1428-1438, 2022

Abstract : In this article, the observer-based adaptive finite-time prescribed performance control issue is studied for a category of nonlinear systems with external disturbances and input delay. The fuzzy logic systems are employed to model the unknown nonlinear terms in the system. The Pade approximation method is utilized to deal with the input delay problem. To estimate the unmeasurable states in the system, a fuzzy state observer is established. By using the finite-time Lyapunov control theory and the backstepping technique, a finite-time adaptive fuzzy controller is designed. The controller can guarantee that the tracking error converges to a prescribed region in a finite time and the boundedness of all signals in the closed-loop system. Finally, a simulation example is included to verify the validity and feasibility of the control method.

Keyword : "Backstepping, finite-time tracking control, fuzzy logic systems, input delay, prescribed performance. "

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