Command-Filtering-Based Adaptive Finite-Time Tracking Control for Ball and Plate System

摘要

The finite-time tracking control problem is studied for non-strict feedback ball and plate systems considering friction, coupling term and external disturbance comprehensively. An adaptive finite-time tracking control strategy based on command filtering is proposed, and the adaptive neural finite-time tracking controller is given for the ball and plate system with unknown input saturation. The designed controller can guarantee that the tracking error of the system can converge to a small neighborhood of the origin within finite time, and all signals in the closed loop system are bounded in the finite time. Finally, a simulation for the designed controller is given, and the simulation results verify the effectiveness and superiority of the proposed control scheme.