Finite-time tracking control for nonstrict-feedback nonlinear systems with unknown time delays and input saturation

In this article, the problem of adaptive finite-time control is studied for a category of nonstrict-feedback nonlinear time-delay systems with input saturation and full state constraints. The fuzzy logic systems are applied to model the unknown nonlinear terms in the systems. Then, a novel tan-type barrier Lyapunov function is adopted to overcome the problem of full state constraints. By utilizing the finite-time control theory and the backstepping technique, a finite-time fuzzy adaptive controller is designed. The controller can guarantee that the tracking error is adjusted around zero with a small neighborhood in a finite time and all the signals in the closed-loop system are bounded. Finally, two simulation examples are included to verify the validity and feasibility of the control scheme.