Finite-time adaptive fuzzy command filtered control for nonlinear systems with indifferentiable non-affine functions

This paper mainly addresses the finite-time tracking problem of pure-feedback systems with indifferentiable non-affine functions. A novel adaptive fuzzy finite-time command filtered scheme is proposed by remodeling the non-affine functions. The control scheme consists of the fuzzy logic systems with modified minimal learning parameter technique, the command filtered scheme and the finite-time error compensation system. The finite-time convergences of tracking error and all closed-loop signals are proved by using the finite-time stability theory. The contributions of this paper are that the new controller can achieve finite-time convergence, relax the restriction conditions that the non-affine functions must be derivative and strictly positive or negative and reduce the computational load significantly. Finally, a simulation example is given to validate the effectiveness of the developed control technique.