Abstract
In this paper, we consider designing adaptive finite-time controllers for a class of SISO strict feedback nonlinear plants with parametric uncertainties based on given specifications. In addition to system stability and for the system output and virtual control errors to converge to zero, the specifications also include requirement on transient response in terms of convergence time and convergence rate. If the bound of the compact set in which unknown parameter lies is incorporated, the designed finite-time controller can ensure convergence within two stages. In the first stage the squared norm of the system states including the virtual control errors converges to a given invariant set faster than a specified linear rate. In the second stage the states converge to the origin with a convergence rate faster than a given exponential speed. If the bound of system initial states is also incorporated into the controller, then the states converge to the origin within the given time at a rate faster than the pre-specified exponential rate.
| Original language | English |
|---|---|
| Pages (from-to) | 395-404 |
| Number of pages | 10 |
| Journal | Automatica |
| Volume | 69 |
| Early online date | 31 Mar 2016 |
| DOIs | |
| Publication status | Published - Jul 2016 |
| Externally published | Yes |
Bibliographical note
The material in this paper was not presented at any conference. This paper was recommended for publication in revised form by Associate Editor Andrea Serrani under the direction of Editor Miroslav Krstic.Funding
This work has been supported in part by the National Basic Research Program of China (973 Program No. 2012CB215200) and by the National Natural Science Foundation of China (Grant Nos. 61203068 and 61134001) and in part by the Republic of Singapore’s National Research Foundation through the grant “NRF2013EWT-EIRP001-025” under Energy Innovation Research Programme.
Keywords
- Adaptive control
- Exponential convergence
- Finite time
- Transient performance