IEEE Trans Cybern. 2022 Jul;52(7):6676-6683. doi: 10.1109/TCYB.2020.3032530. Epub 2022 Jul 4.
This article considers the problem of finite-time (FT) tracking control for a class of uncertain multi-input-multioutput (MIMO) nonlinear systems with input backlash. A modified FT command filter is designed in each step of backstepping, which ensures the output of the filter can faster approximate the derivatives of virtual signals, suppress chattering, and relax the input signal limit of the Levant differentiator. Then, the corresponding improved FT error compensation mechanism is adopted to reduce the negative impact of filtering errors. Furthermore, a neural-network-adaptive technology is proposed for MIMO systems with input backlash via FT convergence. It is shown that desired tracking performance can be implemented in finite time. The simulation example is presented to illustrate the effectiveness and advantages of the new design method.
本文考虑了一类具有输入时滞的不确定多输入多输出（MIMO）非线性系统的有限时间（FT）跟踪控制问题。在反推的每一步中，设计了一个修正的 FT 命令滤波器，该滤波器可以确保滤波器的输出更快地逼近虚拟信号的导数，抑制抖振，并放宽勒凡特微分器的输入信号限制。然后，采用相应的改进 FT 误差补偿机制来减小滤波误差的负面影响。此外，还针对具有输入时滞的 MIMO 系统提出了一种基于 FT 收敛的神经网络自适应技术。结果表明，可以在有限时间内实现期望的跟踪性能。仿真示例验证了新设计方法的有效性和优势。
