Disturbance Observer-Based Adaptive Fuzzy Control for Strict-Feedback Nonlinear Systems With Finite-Time Prescribed Performance

Abstract

This article studies the disturbance observer-based adaptive fuzzy finite-time control issue of strict-feedback nonlinear systems. Specifically, to meet practical application requirement, the finite-time prescribed performance is considered, which can guarantee the tracking error enters into the prescribed bounded set in a known time. A disturbance observer is proposed to estimate the external disturbance. It is proved that the closed-loop system is semi-globally practically finite-time stable. Finally, simulation studies for a one-link manipulator are shown to verify the effectiveness of the proposed approach.