Adaptive Fuzzy Fast Finite-Time Tracking Control for Nonlinear Systems in Pure-Feedback Form with Unknown Disturbance

Abstract

In this paper, based on the fast finite-time stability theorem, an adaptive fuzzy control problem is considered for a class of nonlinear systems in pure-feedback form with unknown disturbance. In the controller design process, the mean value theorem is applied to address the nonaffine structure of the pure-feedback plant, the universal approximation capability of the fuzzy logic system (FLS) is utilized to compensate the unknown uncertainties, and the adaptive backstepping technique is used to design the controller model. Combined with the selection of the appropriate Lyapunov function at each step, a fuzzy-based adaptive tracking control scheme is proposed, which ensures that all signals in the closed-loop system are bounded and tracking error converges to a small neighborhood of the origin in fast finite-time. Finally, simulation results illustrate the validity of the proposed approach.