Finite-Time Adaptive Tracking Control for Uncertain Nonlinear Systems with Time-Varying State Constraints

The objective of this paper is uncertain nonlinear systems with external disturbances and finite-time tracking control is studied for it when the states subject to the time-varying constraints. Firstly, the state constraints including the factor of time can be avoided by virtue of the approach named a barrier Lyapunov function(BLF). The parameter separation technique and the adaptive method are taken into account together to settle the parametric uncertainties. Based on the combination with the method of backstepping, an adaptive design process is constructed. In the sequel, the boundedness of signals appearing in the closed-loop systems are ensured in the stability analysis. At the same time, the finite-time tracking control is achieved based on the methods mentioned above. Finally, an example is provided to illustrate that the methods mentioned above are effective.