Finite-time exact tracking control for a class of non-linear dynamical systems

摘要

In this study, a new distributed fast terminal sliding mode exactly tracking control method is proposed for a class of non-integral cascade high-order uncertain non-linear systems. Based on the concept of hierarchical design, a series of decentralised sliding mode surfaces are first developed in the authors' design scheme. Every sliding mode surface is independent of each other, besides, on this designed sliding mode surface, finite-time convergence characteristic can be guaranteed. By using backstepping technology and dynamic surface control method, a finite-time exact tracking controller is finally developed. Based on Lyapunov stability theory, the stability of system has been theoretically proved, and in finite time, all the closed-loop system signals ultimately converge to the origin. Simulation results verify the effectiveness of the proposed approach.