Funnel-based adaptive fuzzy finite-time control for non-affine nonlinear systems preceded by unknown actuators |
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| Institution: | 1. Department of Electrical Engineering, Faculty of Engineering, University of Guilan, Rasht, Iran;2. Department of Mechanical and Industrial Engineering, Norwegian University of Science and Technology, Trondheim, Norway;1. College of Energy and Electrical Engineering, Hohai University, Nanjing 210098, China;2. College of Automation Engineering, Nanjing University of Aeronautics and Astronautics, Nanjing 211106, China;1. Research Center of Satellite Technology, Harbin Institute of Technology, Harbin, China;2. Department of Electronic and Information Engineering, College of Engineering, Shantou University, Shantou, China;1. MOE-LCSM, School of Mathematics and Statistics, Hunan Normal University, Changsha, 410081, Hunan, China;2. The Key Laboratory of Control and Optimization of Complex Systems, College of Hunan Province, Hunan Normal University, Changsha, 410081, China;1. School of Mathematics and Statistics & FJKLMAA, Fujian Normal University, Fuzhou 350117, PR China;2. School of Big Data, Fuzhou University of International Studies and Trade, Fuzhou 350202, PR China;1. College of Electrical Engineering and Automation, Fuzhou University, Fuzhou 350108, China;2. School of Automation, Shenyang Aerospace University, Shenyang 110136, China |
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| Abstract: | In this paper, an adaptive finite-time funnel control for non-affine strict-feedback nonlinear systems preceded by unknown non-smooth input nonlinearities is proposed. The input nonlinearities include backlash-like hysteresis and dead-zone. Unknown nonlinear functions are handled using fuzzy logic systems (FLS), based on the universal approximation theorem. An improved funnel error surface is utilized to guarantee the steady-state and transient predetermined performances while the differentiability problem in the controller design is averted. Using the Lyapunov approach, all the adaptive laws are extracted. In addition, an adaptive continuous robust term is added to the control input to relax the assumption of knowing the bounds of uncertainties. All the signals in the closed-loop system are shown to be semi-globally practically finite-time bounded with predetermined performance for output tracking error. Finally, comparative numerical and practical examples are provided to authenticate the efficacy and applicability of the proposed scheme. |
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