Adaptive finite-time output tracker design of uncertain nonlinear systems with sandwich structure and actuator saturation constraint

This paper studies the finite-time output tracking problem for a class of nonlinear sandwich systems with sandwiched dead-zone function and input actuator saturation constraint. To achieve the goal, a systematic adaptive backstepping controller is proposed based on the practical finite-time stability criterion which guarantees the output tracking even if the dead zone and saturation constraints occur, simultaneously. In the control approach to confine the system output to a predefined set, the barrier Lyapunov function is utilised. To cope with the problem of 'explosion of complexity', a finite-time command filter is also employed. Furthermore, the values of the unknown parameters are estimated by appropriate adaptive laws. The finite-time stability of the closed-loop system is proved based on the Lyapunov approach which ensures the boundedness of all signals. Finally, the efficiency and applicability of the proposed method are confirmed by providing the simulation results for the hydraulic servo press system.