Composite Boundary Structure-Based Tracking Control for Nonlinear State-Dependent Constrained Systems

In this article, the tracking control problem is investigated for uncertain nonlinear multiple constrained systems. The constraints on tracking error and system states are considered as asymmetric, time-varying, and state-dependent case, which is more general and appropriately unsolved at the presen...

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Bibliographic Details
Published inIEEE transactions on automatic control Vol. 69; no. 8; pp. 5686 - 5693
Main Authors Li, Dapeng, Han, Hong-Gui, Qiao, Jun-Fei
Format Journal Article
LanguageEnglish
Published New York IEEE 01.08.2024
The Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subjects
Adaptive constraint control
Adaptive control
Asymmetry
composite boundary structure
Constraints
Control methods
Control systems
Control systems design
dynamic surface control
Error analysis
Explosions
Lyapunov methods
Nonlinear control
Nonlinear systems
state-dependent mapping
Tracking control
Tracking errors
Tracking loops
Uncertainty
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Summary:In this article, the tracking control problem is investigated for uncertain nonlinear multiple constrained systems. The constraints on tracking error and system states are considered as asymmetric, time-varying, and state-dependent case, which is more general and appropriately unsolved at the present stage. To deal with constraint problem, an adaptive constraint control method based on composite boundary structure is proposed in this article. The state-dependent mapping is introduced to ensure the tracking error and full system states within the asymmetric and state-dependent constraint regions without involved feasibility condition on virtual controllers. Meanwhile, the singularity problem caused by the constrained variables approaching the constraint boundaries is considered in this article. The composite boundary structure is incorporated into controller design to avoid the control signals and adaptive laws tending to infinity. The advantage and availability of the developed control method are exhibited by simulation validation and results analysis.
ISSN:0018-9286
1558-2523
DOI:10.1109/TAC.2024.3372888