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Finite-time-prescribed performance-based adaptive command filtering control for MIMO nonlinear systems with unknown hysteresis

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Abstract

This article focuses on an adaptive neural network (NN) control problem for multi-input multi-output nonstrict-feedback nonlinear systems subject to unmeasurable states and actuator hysteresis. Firstly, a NN observer is proposed to obtain the unmeasurable states. In addition, the radial basis function neural networks are applied to online approximate the nonlinear terms. And then, a variable separation technique is utilized to solve the algebraic loop problem generated by the nonstrict-feedback structure and the complexity problem is also dealt with by using a command filter design technique, which is easy to reduce the repeated differentiations of virtual control signals. Meanwhile, to satisfy the practical engineering application, a finite-time performance function is implemented to make the tracking error can enter into the preassigned range within a given time. By using the proposed controller, the boundedness of all closed-loop signals is guaranteed and the tracking error can enter into the prescribed bounded range within a precise setting time. Finally, the preponderance and effectiveness of the developed controller are revealed by simulation examples.

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Data availability statement

Data sharing is not applicable to this article as no datasets generated or analyzed during the current study.

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Funding

This work was partly supported byNational Natural Science Foundation of China (62122046), (61973204), (52101346).

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Authors and Affiliations

  1. School of Mechatronic Engineering and Automation, Shanghai University, Shanghai, 200444, China

    Xiang Liu, Yang Wu, Nailong Wu & Yueying Wang

  2. College of Information Sciences and Technology, Donghua University, Shanghai, 201620, China

    Nailong Wu

  3. School of Information Science and Engineering, East China University of Science and Technology, Shanghai, 200237, China

    Huaicheng Yan

Authors
  1. Xiang Liu
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  2. Yang Wu
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  3. Nailong Wu
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  4. Huaicheng Yan
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Correspondence to Yang Wu or Nailong Wu.

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Liu, X., Wu, Y., Wu, N. et al. Finite-time-prescribed performance-based adaptive command filtering control for MIMO nonlinear systems with unknown hysteresis. Nonlinear Dyn 111, 7357–7375 (2023). https://doi.org/10.1007/s11071-022-08216-6

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  • DOI: https://doi.org/10.1007/s11071-022-08216-6

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