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Adaptive Finite-Time Tracking Control of Nonlinear Systems With Dynamics Uncertainties
Abstract
In this article, the problem of adaptive backstepping finite-time tracking control is investigated for a class of strict-feedback nonlinear systems with unmodeled dynamics and dynamic disturbances. A modified finite-time dynamic signal is first introduced to dominate the dynamic disturbance. By using the adaptive control, backstepping technique, and finite-time stability theory, an adaptive finite-time tracking controller is developed. Under the proposed control scheme, the finite-time tracking performance and the boundedness property of all signals in the closed-loop system are ensured. Finally, simulation results check the effectiveness of the suggested approach.
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“Additionally, a significant limitation of traditional adaptive finite-time control methods is their dependency on initial conditions, which makes it difficult to predict the settling time in advance.”
From Fixed-Time Adaptive Control for Nonstrict-Feedback Nonlinear Systems with Input Delay and Unknown Backlash-Like Hysteresis (2025) · cites this paper as [38]
In the citing paper
“This work overcomes the prevailing limitations associated with convergence time dependence on initial states in [38,39] by devising a fixed-time controller.”
From Fixed-Time Adaptive Control for Nonstrict-Feedback Nonlinear Systems with Input Delay and Unknown Backlash-Like Hysteresis (2025) · cites this paper as [38]
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Zhang, W. J., Xu, Y., Fu, M., Fan, Z., & Dong, L. (2025) · Ocean Engineering · doi:10.1016/j.oceaneng.2025.124019
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Gao, Y., Yin, Z., Li, Y., Zhang, Y., Yuan, D., & Bai, C. (2025) · IEEE Transactions on Transportation Electrification · doi:10.1109/tte.2025.3647109
“Unlike asymptotically stable control methods, the FT control can make the state converge in finite time [25], not only with faster error convergence speed [26] but also with better tracking accuracy [27] and robustness [28].”
Variable-Gain Nonlinear Control Strategy for a Mobile Manipulator
Proaño, P., Andaluz, G. M., & Leica, P. (2025) · IEEE Ecuador Technical Chapters Meeting (ETCM) · doi:10.1109/etcm67548.2025.11304390
“However, a major drawback is the tendency of some nonlinear strategies to produce large and rapidly changing control signals, which can lead to actuator saturation or damage [15], [16].”
Mhemdi, A., Alhazmi, H., Kharrat, M., & Gargouri, A. (2025) · International Journal of General Systems · doi:10.1080/03081079.2025.2605219
Mao, J., Tu, L., Wang, X., Gao, F., & Zhao, Q. (2025) · Applied Mathematics and Computation · doi:10.1016/j.amc.2025.129918
Wang, N., Liu, X., Chen, T., Sun, L., & Liu, C. (2026) · Actuators · doi:10.3390/act15020069
Jin, L., Xu, J., Huang, B., & Sun, K. (2026) · Transactions of the Institute of Measurement and Control · doi:10.1177/01423312261421376
Distributed fixed-time tracking control of low-order nonlinear multi-agent systems
Liu, L., Sun, G., Yin, S., & Bai, R. (2026) · Systems & Control Letters · doi:10.1016/j.sysconle.2026.106398
Wang, H., & Zhao, L. (2026) · International Journal of Control · doi:10.1080/00207179.2026.2636818
“For nonlinear systems with unmodeled dynamics, the authors have introduced a reformative finite-time control strategy in H. Wang et al. (2023).”
Self-citation
Metadata
- Authors
- Wang, H., Xu, K., & Zhang, H.
- Affiliations
- Bohai University (CN)
- Beijing Jiaotong University (CN)
- State Key Laboratory of Synthetical Automation for Process Industries (CN)
- Venue
- IEEE Transactions on Automatic Control
- Published
- 2023-09
- Volume
- 68
- Issue
- 9
- Pages
- 5737-5744
- ISSN
- 0018-9286 (ISSN-L)
- 1558-2523
- 2334-3303
- OpenAlex
- W4312809224
- Cited by
- 342
- References
- 36
- Citations by year
- 2026: 69 · 2025: 108 · 2024: 111 · 2023: 54
- FWCI
- 27.48
- Type
- journal article
- Language
- en
- Open access
- closed
- Licence
- Locations
- IEEE Transactions on Automatic Control (publishedVersion)
- Funders
- National Natural Science Foundation of China (62173046, 51939001, 61976033)
- National Key R&D Program of China (2018YFA0702200)
- Fundamental Research Funds for the Central Universities (2022JBMC029)
- Topics
- Physical Sciences › Engineering › Control and Systems Engineering › Adaptive Control of Nonlinear Systems
- Physical Sciences › Engineering › Control and Systems Engineering › Stability and Control of Uncertain Systems
- Physical Sciences › Physics and Astronomy › Statistical and Nonlinear Physics › Chaos control and synchronization
- Keywords
- finite-time tracking control, adaptive control, backstepping control, strict-feedback nonlinear systems, unmodeled dynamics, dynamic disturbances, finite-time stability, signal boundedness
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