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Design of Adaptive Finite-Time Backstepping Control for Shield Tunneling Systems with Constraints

Author

Listed:
  • Kairong Hong

    (State Key Laboratory of Shield Machine and Boring Technology, Zhengzhou 450001, China
    These authors contributed equally to this work.)

  • Lulu Yuan

    (School of Mathematics and Statistics, Zhengzhou University, Zhengzhou 450001, China)

  • Xunlin Zhu

    (School of Mathematics and Statistics, Zhengzhou University, Zhengzhou 450001, China
    These authors contributed equally to this work.)

  • Fengyuan Li

    (State Key Laboratory of Shield Machine and Boring Technology, Zhengzhou 450001, China
    These authors contributed equally to this work.)

Abstract

This paper focuses on the finite-time tracking control problem of shield tunneling systems in the presence of constraints on the states and control input. By modeling the system based on the LuGre friction model, an effective method of tracking control in finite time is designed to overcome these actual constraints at the same time. First, the constraint on the system state is transformed into a symmetric constraint on the tracking error, and the constraint on control input is handled by designing an auxiliary differential equation. Then, radial basis function (RBF) neural networks are introduced to approximate the uncertainties. Next, using an adaptive finite-time backstepping method and choosing a logarithmic barrier Lyapunov function (BLF), a finite-time controller is designed to realize the finite-time stability of the closed-loop system. Finally, a simulation example is given to verify the correctness and validity of the theoretical results.

Suggested Citation

  • Kairong Hong & Lulu Yuan & Xunlin Zhu & Fengyuan Li, 2024. "Design of Adaptive Finite-Time Backstepping Control for Shield Tunneling Systems with Constraints," Mathematics, MDPI, vol. 12(14), pages 1-17, July.
    • Handle: RePEc:gam:jmathe:v:12:y:2024:i:14:p:2230-:d:1437154
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    References listed on IDEAS

    as
    1. Zhao Yin & Wei He & Chenguang Yang, 2017. "Tracking control of a marine surface vessel with full-state constraints," International Journal of Systems Science, Taylor & Francis Journals, vol. 48(3), pages 535-546, February.
    2. Haibo Xie & Zhibin Liu & Huayong Yang, 2014. "Advancing Control for Shield Tunneling Machine by Backstepping Design with LuGre Friction Model," Mathematical Problems in Engineering, Hindawi, vol. 2014, pages 1-10, May.
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