Finite-Time Controller Design For Pure-Feedback Switched Nonlinear Systems

In this paper,a new adaptive fuzzy finite-time tracking control scheme is studied for a class of completely non-affine pure-feedback switched nonlinear systems by using dynamic surface control(DSC)and Backstepping techniques,and its stability is discussed in the sense of finite-time.In this scheme,Butterworth low-pass filter(LPF)is used to construct the fuzzy observer to estimate the unmeasurable state,so as to avoid the algebraic loop problem in the application of the controller.According to the stability theory of common Lyapunov function(CLF),the designed controller can ensure that the tracking error converges to a small neighborhood near the origin in a finite time.Moreover,in order to fully consider the transient performance,rather than only focusing on the steady-state performance,the prescribed performance is taken into account in the designed control scheme,that is,the tracking error of this system converges to the predefined boundary.On this basis,considering the input and output states of the controller,multiple input and multiple output(MIMO)and input saturation are further considered in the controller.Under the proposed adaptive controller,all the signals of the closed-loop system are bounded,and the given transient and steady tracking performance is guaranteed under switching control.Finally,the simulation results of MATLAB software validate the validity and feasibility of the proposed method and theory.