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TABLF-based adaptive control for uncertain nonlinear systems with time-varying asymmetric full-state constraints

TABLF-based adaptive control for uncertain nonlinear systems with time-varying asymmetric... In this paper, we investigate the tracking control problem for a class of strict-feedback nonlinear systems with parametric uncertainties and time-varying asymmetric full-state constraints. By introducing novel tan-type time-varying asymmetric barrier Lyapunov function (TABLF) in each step of backstepping design, the boundedness of the fictitious state tracking errors are ensured. A novel adaptive backstepping control design based on tuning function is given, which successfully eliminates the effect of uncertainties. In addition, only one parameter needs to be adjusted online in the control design, which greatly alleviates the computation burden. Based on the proposed control scheme the asymptotic convergence of system output tracking error is realised and the time-varying full-state constraints are not violated for all the time. A numerical example is given to illustrate the effectiveness of the proposed control scheme. http://www.deepdyve.com/assets/images/DeepDyve-Logo-lg.png International Journal of Control Taylor & Francis

TABLF-based adaptive control for uncertain nonlinear systems with time-varying asymmetric full-state constraints

TABLF-based adaptive control for uncertain nonlinear systems with time-varying asymmetric full-state constraints

International Journal of Control , Volume 94 (5): 9 – May 4, 2021

Abstract

In this paper, we investigate the tracking control problem for a class of strict-feedback nonlinear systems with parametric uncertainties and time-varying asymmetric full-state constraints. By introducing novel tan-type time-varying asymmetric barrier Lyapunov function (TABLF) in each step of backstepping design, the boundedness of the fictitious state tracking errors are ensured. A novel adaptive backstepping control design based on tuning function is given, which successfully eliminates the effect of uncertainties. In addition, only one parameter needs to be adjusted online in the control design, which greatly alleviates the computation burden. Based on the proposed control scheme the asymptotic convergence of system output tracking error is realised and the time-varying full-state constraints are not violated for all the time. A numerical example is given to illustrate the effectiveness of the proposed control scheme.

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References (36)

Publisher
Taylor & Francis
Copyright
© 2019 Informa UK Limited, trading as Taylor & Francis Group
ISSN
1366-5820
eISSN
0020-7179
DOI
10.1080/00207179.2019.1639825
Publisher site
See Article on Publisher Site

Abstract

In this paper, we investigate the tracking control problem for a class of strict-feedback nonlinear systems with parametric uncertainties and time-varying asymmetric full-state constraints. By introducing novel tan-type time-varying asymmetric barrier Lyapunov function (TABLF) in each step of backstepping design, the boundedness of the fictitious state tracking errors are ensured. A novel adaptive backstepping control design based on tuning function is given, which successfully eliminates the effect of uncertainties. In addition, only one parameter needs to be adjusted online in the control design, which greatly alleviates the computation burden. Based on the proposed control scheme the asymptotic convergence of system output tracking error is realised and the time-varying full-state constraints are not violated for all the time. A numerical example is given to illustrate the effectiveness of the proposed control scheme.

Journal

International Journal of ControlTaylor & Francis

Published: May 4, 2021

Keywords: Time-varying full-state constraints; barrier Lyapunov function; strict-feedback nonlinear system; adaptive backstepping control

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