UM
Control of nonlinear systems under dynamic constraints: A unified barrier function-based approach
Zhao,Kai1; Song,Yongduan1; Chen,C. L.Philip2,3; Chen,Long2
2020-09-01
Source PublicationAutomatica
ISSN0005-1098
Volume119
AbstractAlthough there are fruitful results on adaptive control of constrained parametric/nonparametric strict-feedback nonlinear systems, most of them are contingent upon “feasibility conditions”, and/or are only applicable to constant and symmetric constraints. In this work, we present a robust adaptive control solution free from “feasibility conditions” and capable of accommodating much more general dynamic constraints. In our design, instead of employing the commonly used piecewise Barrier Lyapunov Function (BLF), we build a unified barrier function upon the constrained states, with which we convert the original constrained nonlinear system into an equivalent “non-constrained” one. Then by stabilizing the “unconstrained” system, the asymmetric state constraints imposed dynamically are handled gracefully. By blending a new coordinate transformation into the backstepping design, we develop a control strategy completely obviating the “feasibility conditions” for the system. It is worth noting that the requirement on the constraints to be obeyed herein is much less restrictive as compared to those imposed in most existing methods, rendering the resultant control less demanding in design and more user-friendly in implementation. Both theoretical analysis and numerical simulation verify the effectiveness and benefits of the proposed method.
KeywordNonparametric strict-feedback nonlinear systems Robust adaptive control State constraints Unified barrier function
DOI10.1016/j.automatica.2020.109102
URLView the original
Language英语
Scopus ID2-s2.0-85086741037
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Cited Times [WOS]:4   [WOS Record]     [Related Records in WOS]
Document TypeJournal article
CollectionUniversity of Macau
Corresponding AuthorSong,Yongduan
Affiliation1.State Key Laboratory of Power Transmission Equipment & System Security and New Technology and School of Automation,Chongqing University,Chongqing,400044,China
2.Faculty of Science and Technology,University of Macau,Macau,999078,China
3.School of Computer Science and Engineering,South China University of Technology,Guangzhou,510641,China
Recommended Citation
GB/T 7714
Zhao,Kai,Song,Yongduan,Chen,C. L.Philip,et al. Control of nonlinear systems under dynamic constraints: A unified barrier function-based approach[J]. Automatica,2020,119.
APA Zhao,Kai,Song,Yongduan,Chen,C. L.Philip,&Chen,Long.(2020).Control of nonlinear systems under dynamic constraints: A unified barrier function-based approach.Automatica,119.
MLA Zhao,Kai,et al."Control of nonlinear systems under dynamic constraints: A unified barrier function-based approach".Automatica 119(2020).
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