TY - JOUR
T1 - Performance-Guaranteed Finite-Time Tracking of Strict-Feedback Systems with Unknown Control Directions
T2 - A Novel Switching Mechanism
AU - Mao, Bing
AU - Wu, Xiaoqun
AU - Fan, Ziye
AU - Lü, Jinhu
AU - Chen, Guanrong
PY - 2025/1/13
Y1 - 2025/1/13
N2 - The problem of achieving performance-guaranteed finite-time exact tracking for uncertain strict-feedback nonlinear systems with unknown control directions is addressed. A novel logic switching mechanism with monitoring functions is designed to deal with unknown control directions. This approach is different from existing methods like the Nussbaum gain technique and smooth orientation functions, which are inapplicable to finite-time exact tracking. The main challenge lies in designing monitoring functions and determining switching rules, which is well resolved through three steps. Most significantly, in contrast to existing works that solely guarantee bounded tracking or asymptotic exact tracking, the new mechanism incorporates novel integral sliding mode techniques to achieve finite-time exact tracking with guaranteed performance. Finally, simulations are presented with comparison to demonstrate the effectiveness of the proposed methods. © 2025 IEEE.
AB - The problem of achieving performance-guaranteed finite-time exact tracking for uncertain strict-feedback nonlinear systems with unknown control directions is addressed. A novel logic switching mechanism with monitoring functions is designed to deal with unknown control directions. This approach is different from existing methods like the Nussbaum gain technique and smooth orientation functions, which are inapplicable to finite-time exact tracking. The main challenge lies in designing monitoring functions and determining switching rules, which is well resolved through three steps. Most significantly, in contrast to existing works that solely guarantee bounded tracking or asymptotic exact tracking, the new mechanism incorporates novel integral sliding mode techniques to achieve finite-time exact tracking with guaranteed performance. Finally, simulations are presented with comparison to demonstrate the effectiveness of the proposed methods. © 2025 IEEE.
KW - finite-time tracking
KW - Monitoring function
KW - switching mechanism
KW - unknown control direction
UR - http://www.scopus.com/inward/record.url?scp=85215368666&partnerID=8YFLogxK
UR - https://www.scopus.com/record/pubmetrics.uri?eid=2-s2.0-85215368666&origin=recordpage
U2 - 10.1109/TAC.2025.3528344
DO - 10.1109/TAC.2025.3528344
M3 - RGC 21 - Publication in refereed journal
SN - 0018-9286
JO - IEEE Transactions on Automatic Control
JF - IEEE Transactions on Automatic Control
ER -