RETRACTED ARTICLE: Finite-time tracking control for strict-feedback nonlinear systems with time-varying output constraints

ABSTRACTThis paper focuses on the adaptive finite-time tracking control for a class of strict-feedback nonlinear systems with parametric uncertainties and time-varying output constraint. Novel backstepping control scheme combined with tuning function is proposed, which not only can assure that the finite-time convergence of system output tracking error into a small set around zero but also can guarantee that the time-varying output constraint is not violated. More precisely, a tan-type Barrier Lyapunov Function is proposed to ensure the boundedness of output tracking error and a new tuning function is constructed to eliminate the effect of uncertainties. Finally, two examples which including one numerical example and a single-link robot are provided to demonstrate that the proposed approach can achieve the desired performance and the time-varying output constraint is never breached.

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