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| Finite-time dynamic surface control for nonlinear systems with input delay and prescribed performance |
| XIA Xiaonan, YIN Zhilin, LI Chun, ZHANG Xinlei, WU Song |
| College of Information Engineering, Yangzhou University, Yangzhou, Jiangsu 225127, China |
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Abstract A new finite-time adaptive tracking control scheme based on prescribed performance was developed to solve the control problem of non-strict feedback systems with input delays and dynamic uncertainties. The time-delay systems were transformed into delay-free systems by Pade approximation and auxiliary intermediate variable, and the unmodeled dynamics was handled by the dynamic signal generated by the first-order auxiliary system. The prescribed performance adaptive tracking control was implemented by the hyperbolic tangent function, and the stability analysis was presented based on dynamic surface control method. Taking the second-order nonlinear system with unmodeled dynamics and input delay as example, the numerical simulation of the proposed control strategy was conducted in MATLAB environment . The results show that the proposed control scheme can avoid the singularity in the derivation of virtual control, and all signals in the closed-loop system are bounded in finite time. The tracking error can converge to prescribed time-varying region, and the control algorithm is effective.
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Received: 15 February 2023
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2024, Vol. 45 
