Adaptive Finite-time Prescribed Performance Control for Stochastic Non-triangular Structure Nonlinear Systems with State-delayed and Unmodeled Dynamics

作者：Yao, Yangang; Tan, Jieqing^*; Wu, Jian

来源：INTERNATIONAL JOURNAL OF CONTROL AUTOMATION AND SYSTEMS, 2022, 20(1): 117-127.

DOI：10.1007/s12555-020-0833-7

• Finite-time control
• state delay
• stochastic non-triangular structure nonlinear systems
• unmodeled dynamics

In this article, the problem of adaptive finite-time prescribed performance control (FTPPC) is discussed for stochastic non-triangular structure time-delay systems. The mean value theorem (MVT) is employed to convert the non-triangular structure systems to the equivalent systems with affine structure. A finite-time performance FTPF) is constructed to guarantee that the system achieves the predefined tracking accuracy within a finite time. Combining the FIPF and adaptive neural network (NN) technology, a newly controller is presented, under which both the specified tracking accuracy and convergence time can be ensured, and the whole variables in the closed-loop system are bounded in probability. Simulation results verify the effectiveness and suitability of the scheme.