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access icon free Fixed-time backstepping control design for high-order strict-feedback non-linear systems via terminal sliding mode

  • Author(s): Junpeng Li 1 ; Yana Yang 1 ; Changchun Hua 1 ; Xinping Guan 2
    • View affiliations
    • Affiliations: 1: Institute of Electrical Engineering, National Engineering Research Center for Equipment and Technology of Cold Strip Rolling, Yanshan University, Qinhuangdao City 066004, People's Republic of China ;
      2: Department of Automation, Shanghai Jiao Tong University, Shanghai 200240, People's Republic of China
  • Source: Volume 11, Issue 8, 12 May 2017, p. 1184 – 1193
    DOI:  10.1049/iet-cta.2016.1143 , Print ISSN 1751-8644, Online ISSN 1751-8652
© The Institution of Engineering and Technology
Received 07/09/2016, Accepted 29/10/2016, Published 02/11/2016

In this study, the state feedback fixed-time control problem is addressed for a class of high-order strict-feedback non-linear systems (SFNSs) with mismatching system uncertainties. Based on the fixed-time control technique and uniform exact difference method, a new fixed-time tracking control algorithm via the backstepping method in conjunction with a novel second-order sliding mode super-twisting-like structure adaptive fixed-time disturbance observer is proposed. Compared with many existing finite-time control results in which the convergence time grows unboundedly when the system initial conditions grow, the fixed-time control provides faster convergence rate by using high-degree terms and the settling time function derived only with controller parameters, is allowed to be adjusted independently of the system initial conditions. Moreover, to avoid the computation explosion, the singularity problem and to relax the assumption on the mismatching system uncertainties, the dynamics surface control method is employed based on a novel non-linear non-smooth first-order filter. Then the semi-globally uniformly fixed-time convergent performance of the high-order SFNSs is achieved. Finally, theoretical results are supported by simulation and experimental results.

Inspec keywords: observers; nonlinear filters; nonlinear control systems; uncertain systems; adaptive systems; variable structure systems; control system synthesis; feedback; control nonlinearities

Other keywords: uniform exact difference method; sliding mode terminal; adaptive fixed-time disturbance observer; high-order strict-feedback nonlinear systems; semiglobally uniformly fixed-time convergent performance; controller parameters; dynamics surface control method; fixed-time tracking control algorithm; settling time function; nonlinear nonsmooth first-order filter; state feedback fixed-time control problem; high-order SFNS; system uncertainties; fixed-time backstepping control design; second-order sliding mode super-twisting-like structure

Subjects: Self-adjusting control systems; Nonlinear control systems; Simulation, modelling and identification; Multivariable control systems; Control system analysis and synthesis methods

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