Command filter‐based finite‐time adaptive tracking control for MIMO dynamic systems with external disturbances and prescribed performance constraints

Abstract

This paper investigates command filter‐based finite‐time stability of multi‐input multi‐output (MIMO) dynamic systems with prescribed performance constraints and external disturbances. A novel finite‐time differentiator is introduced into command filter‐based control scheme, which improves transient performance of each subsystem. Meanwhile, disturbance observers are utilized to eliminate negative effects on control system caused by external disturbances. Furthermore, featured with a selected performance function, it can be guaranteed that tracking errors remain in prescribed performance region. Stability analysis of the proposed controller is presented by using a Lyapunov function including transformed filter errors, parameter errors of neural networks, and observed errors of lumped disturbances. Effectiveness of proposed control method is verified by a numerical example and a practical system of inverted pendulums, respectively.