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Finite-time command-filtered backstepping control for nonlinear systems with input delay and time-varying full-state constraints.
- Source :
-
Transactions of the Institute of Measurement & Control . Apr2023, Vol. 45 Issue 6, p1128-1139. 12p. - Publication Year :
- 2023
-
Abstract
- This paper examines a finite-time command-filtered backstepping control proposed for a class of strict-feedback nonlinear systems with input delay and time-varying asymmetric full-state constraints. The existing control method either ignores the effect of input delay or converges asymptotically in infinite time. A command-filtered backstepping design is used to decrease computational burden. A first-order Levant differentiator is employed to replace the command filter for estimating the virtual control signals in finite time. The time-varying asymmetric barrier Lyapunov function (TVABLF) and command-filtered backstepping design are applied to alleviate the significant challenges caused by the backstepping approach and full-state constraints. A novel finite-time delay compensation mechanism is proposed to remove the impact of input delay. The closed-loop signals are proved to be practical bounded. Simulation results are provided to demonstrate the effectiveness of the proposed control scheme. [ABSTRACT FROM AUTHOR]
Details
- Language :
- English
- ISSN :
- 01423312
- Volume :
- 45
- Issue :
- 6
- Database :
- Academic Search Index
- Journal :
- Transactions of the Institute of Measurement & Control
- Publication Type :
- Academic Journal
- Accession number :
- 162328675
- Full Text :
- https://doi.org/10.1177/01423312221124648