Globally Composite-Learning-Based Intelligent Fast Finite-Time Control for Uncertain Strict-Feedback Systems with Nonlinearly Periodic Disturbances

원문 초록

This brief aims at the issue of globally composite-learning-based neural fast finite-time (F-FnT) tracking control for a class of uncertain systems in strict-feedback form subject to nonlinearly periodic disturbances. First, uncertain dynamics with periodic parameters are identified by incorporating Fourier series expansion (FSE) into an intelligent estimator, which leverages the feedback of newly designed prediction errors in updating weights to boost learning performance. Then, a novel switching mechanism is constructed to fulfill smooth switching from the composite FSE-based neural controller to robust control law when the inputs of the intelligent estimator transcend the valid approximation domain. By fusing the switching mechanism with an improved F-FnT backstepping algorithm, the globally F-FnT boundedness of all variables in the closed-loop system is guaranteed. Finally, a simulation study is conducted to evince the availability of the theoretical result.