Constrained fast finite-time exact tracking for disturbed nonlinear systems

Xiang Chen, Shiqi Zheng, Choon Ki Ahn, Yuanlong Xie, Peng Shi

Research output: Contribution to journalArticlepeer-review

3 Citations (Scopus)


This article investigates the fast finite-time exact tracking problem for nonlinear systems with time-varying disturbances. A new composite controller with a finite-time disturbance observer is proposed to achieve fast finite-time exact tracking. Furthermore, a new time-varying barrier power integrator technique is developed to design the controller. This can ensure not only asymmetric/symmetric time-varying full-state constraints but also singular-free continuous control effort. To reduce the complexity of computation, fuzzy logic systems are adopted to approximate complex nonlinearities. Finally, an example of single-link robot systems subject to time-varying disturbances is presented to show the validity of the proposed method.

Original languageEnglish
Pages (from-to)4376-4400
Number of pages25
JournalInternational Journal of Robust and Nonlinear Control
Issue number7
Publication statusPublished - 2022 May 10


  • fast finite-time tracking control
  • finite-time disturbance observer
  • full-state constraints
  • nonlinear systems

ASJC Scopus subject areas

  • Control and Systems Engineering
  • Chemical Engineering(all)
  • Biomedical Engineering
  • Aerospace Engineering
  • Mechanical Engineering
  • Industrial and Manufacturing Engineering
  • Electrical and Electronic Engineering


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