Time-Varying BLFs-Based Adaptive Neural Network Finite-Time Command-Filtered Control for Nonlinear Systems
针对一类具有时变全状态约束的非线性系统，提出一种自适应神经网络有限时间指令滤波跟踪控制方法，利用时变障碍李雅普诺夫函数处理约束，并引入改进的有限时间指令滤波器和误差补偿机制，确保系统信号有界且跟踪误差有限时间收敛。
This article deals with the adaptive neural network (NN) finite-time (FT) command-filtered tracking control problem for a class of nonlinear systems with time-varying full-state constraints. Based on the asymmetric time-varying barrier Lyapunov functions (TVBLFs), the issue of time-varying full-state constraints is settled. The influence of unknown items in the system can be eliminated by the adaptive NN control method. Moreover, the improved FT command filter is introduced to relax the restriction on the input signal and solve the explosion of complexity (EOC) problem. Meanwhile, the FT error compensation mechanism is developed to eliminate the influence of filtering error. It is shown that the proposed strategy can guarantee FT boundedness of all the signals in the closed-loop system and FT convergence of the tracking error. An example verifies the effectiveness of the proposed control method.