Prescribed performance adaptive finite-time control for uncertain horizontal platform systems

Xuan-Toa Tran; Hyondong Oh

doi:10.1016/j.isatra.2020.03.015

Prescribed performance adaptive finite-time control for uncertain horizontal platform systems

ISA Trans. 2020 Aug:103:122-130. doi: 10.1016/j.isatra.2020.03.015. Epub 2020 Mar 14.

Authors

Xuan-Toa Tran¹, Hyondong Oh²

Affiliations

¹ School of Mechanical and Nuclear Engineering, Ulsan National Institute of Science and Technology, Ulsan 44919, South Korea; NTT Hi-Tech Institute, Nguyen Tat Thanh University, 300A Nguyen Tat Thanh Street, Ho Chi Minh City, Viet Nam.
² School of Mechanical and Nuclear Engineering, Ulsan National Institute of Science and Technology, Ulsan 44919, South Korea. Electronic address: h.oh@unist.ac.kr.

PMID: 32192713
DOI: 10.1016/j.isatra.2020.03.015

Abstract

This paper presents a new approach to the design of prescribed performance adaptive control for uncertain horizontal platform systems with the finite-time convergence. Following an appropriate performance function and error transformation, a new adaptive control law is proposed by using a novel integral non-singular terminal sliding mode surface. The proposed approach simultaneously guarantees that (i) the transient responses of the closed-loop system possess some advanced properties such as the existence of the prespecified lower bound of the convergence rate and of the pre-established upper bound of the maximum overshoot; and (ii) the finite-time convergence of the state trajectories/tracking errors to zero. The global stability and finite-time convergence are strictly analyzed. The proposed method is clarified and verified through two numerical simulation examples.

Keywords: Adaptive finite-time control; Finite-time stability; Integral terminal sliding mode control; Prescribed performance; Uncertain horizontal platform system.