Command filter based adaptive finite‐time dynamic surface control for nonlinear systems with unknown input delay under discontinuous input

Abstract In this article, the adaptive finite‐time quantized and event‐triggered dynamic surface control (DSC) schemes are proposed for a class of strict‐feedback nonlinear system with time varying input delay. In order to ensure the completeness of the DSC method, an improved dynamic surface control method based on command filtering is adopted. The designed filtering error compensation signal can not only effectively compensate the filtering error, but also deal with the discontinuous input possessing unknown input delay. The problem of finite‐time control design and stability analysis with the difficulties brought by discontinuous input with unknown time‐varying input delay is solved through the design of the new compensation signal and the corresponding Lyapunov functional. Theoretical analysis shows that all signals in the closed‐loop system are bounded in finite time. The simulation examples also verify the effectiveness of the adaptive finite time DSC schemes proposed in this article.