Adaptive neural practical fixed‐time command filtered control for multi‐input and multi‐output nonlinear systems with dead zones input and unknown control direction

Abstract

AbstractIn this article, under the circumstance of dead zones input and unknown control direction, the adaptive practical fixed‐time control strategy is presented for a general class of multi‐input and multi‐output (MIMO) nonlinear systems. The inherent explosion of computational complexity difficulty is eliminated by adopting a command filter technique and the universal approximation properties of radial basis function neural networks (RBFNNs) are applied to model the unknown nonlinear functions. The difficulties of the dynamic surface method and unknown directions can be handled by invoking error compensation mechanism and Nussbaum‐type functions, respectively. The uniqueness of the presented control scheme is that the tracking system can achieve the fixed‐time stability without relying on the boundedness of dead‐zone parameters. The fixed‐time convergence of the output tracking error and the semiglobally fixed‐time stable of closed‐loop system are assured via the developed adaptive fixed‐time command filtered controller. Finally, a practical example is supplied to further validate the availability of the presented theoretic result.