Finite‐time optimal control for uncertain strict‐feedback nonlinear systems with input saturation and output constraints

Abstract

SummaryIn this paper, a finite‐time optimal control (FTOC) strategy is proposed for output constrained uncertain nonlinear systems with input saturation. The controller adopts a feed‐forward and optimal feedback control structure. The second‐order command filter and the auxiliary error compensation system are designed in the feed‐forward controller, which can eliminate the influence of filtering error on system performance while avoiding the singularity problem of finite‐time control. A new critic weight updating law is proposed in the design of the optimal feedback controller, in which a neural network is utilized to approximate the relevant cost function. The control scheme can ensure that all signals in the optimize system are semi‐global practical finite‐time stable (SGPFS), and the cost function is also minimized. The effectiveness of the algorithm is validated through simulation examples.