Fixed-Time Command Filtered Adaptive Backstepping Control for Uncertain Nonlinear Systems With Zero-Error Tracking

Area of Science:

• Control Engineering
• Nonlinear Systems Theory
• Adaptive Control Systems

Background:

• Existing adaptive fixed-time control methods often focus on bounded-error trajectory tracking.
• Nonlinear systems with time-varying parameters and disturbances present significant control challenges.

Purpose of the Study:

• To develop a novel command-filter-based adaptive fixed-time tracking control scheme.
• To address limitations in existing fixed-time control strategies for nonlinear systems.
• To reduce computational complexity while ensuring robust tracking performance.

Main Methods:

• Proposing a new fixed-time stability lemma based on an exponential decay function.
• Employing a command filtered backstepping technique for control scheme construction.
• Incorporating a piecewise function to guarantee second-order derivability of virtual control laws.

Main Results:

• The proposed control scheme ensures tracking error converges to zero within a fixed time.
• The strategy effectively counteracts time-varying uncertain parameters and disturbances.
• Computational complexity is reduced compared to existing methods.
• Second-order derivability of virtual control laws is guaranteed, ensuring command filter validity.

Conclusions:

• The novel adaptive fixed-time control strategy offers improved performance for nonlinear systems.
• The method provides robust tracking control in the presence of uncertainties and disturbances.
• Simulation results validate the effectiveness and practical applicability of the proposed control scheme.