Finite-time command filtered-based fixed-time prescribed performance control
For a class of strict-feedback nonlinear systems,an adaptive fixed-time prescribed performance control strategy is proposed based on finite-time command filtering.Firstly,we establish an equivalent error model by using nonlinear mapping technique and appropriate error transformation.Secondly,a finite-time command-filtered based prescribed performance tracking controller is constructed through comprehensive utilization of the backstepping scheme,fixed-time control and adaptive control and so on.In the strategy,a command filter is used to solve the problem of repeated derivation of virtual control laws in the backstepping method and reduce the computational burden.In addition,prescribed performance control and fixed-time control ensure that the tracking error of the system can converge to the range limited by the prescribed performance functions in fixed time,and the convergence time is independent of the initial conditions.And all the signals in the system are guaranteed to reach the bounded region in finite time.Finally,theoretical analysis and simulation results show the effectiveness of the proposed method.
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