Adaptive finite‐time tracking control for parameterized nonlinear systems with full state constraints

Summary In this article, the issue of adaptive finite‐time dynamic surface control (DSC) is discussed for a class of parameterized nonlinear systems with full state constraints. Using the property of logarithmic function, a one‐to‐one nonlinear mapping is constructed to transform a constrained system into an unconstrained system with the same structure. The nonlinear filter is constructed to replace the first‐order linear filter in the traditional DSC, and the demand on the filter time constant is reduced. Based on finite‐time stable theory and using modified DSC, the finite‐time controller is designed via DSC. Theoretical analysis shows that all the signals in the closed‐loop system are semiglobal practical finite‐time stable. Furthermore, none of the states are outside the defined open set. In the end, simulation results are presented to demonstrate the effectiveness of the proposed control schemes with both linear filters and nonlinear filters.