Design of Adaptive Finite-Time Backstepping Control for Shield Tunneling Systems with Constraints

Abstract

This paper focuses on the finite-time tracking control problem of shield tunneling systems in the presence of constraints on the states and control input. By modeling the system based on the LuGre friction model, an effective method of tracking control in finite time is designed to overcome these actual constraints at the same time. First, the constraint on the system state is transformed into a symmetric constraint on the tracking error, and the constraint on control input is handled by designing an auxiliary differential equation. Then, radial basis function (RBF) neural networks are introduced to approximate the uncertainties. Next, using an adaptive finite-time backstepping method and choosing a logarithmic barrier Lyapunov function (BLF), a finite-time controller is designed to realize the finite-time stability of the closed-loop system. Finally, a simulation example is given to verify the correctness and validity of the theoretical results.