Finite-time prescribed performance adaptive fuzzy control for non-triangular uncertain nonlinear systems based on nonlinear command filter

In this article, the finite-time prescribed performance adaptive fuzzy control for non-triangular nonlinear systems is proposed. Firstly, the unknown functions can be identified and the algebraic-loop problem is avoided by adopting fuzzy approximation technique. Secondly, the computational burden of the controller is significantly alleviated by designing the nonlinear command filter to obtain the derivatives of intermediate command signals. Thirdly, by combining the finite-time prescribed performance function and backstepping method, a novel finite-time adaptive fuzzy controller is developed. All the solutions of the closed-loop system are proved to be finite-time convergent. Finally, a simulation example is presented to illustrate the theoretical method.