Performance Guaranteed Tracking Control for Nonlinear Systems With Time-Varying Output Constraints and Full-State Constraints
This paper proposes a low-complexity predefined performance tracking control scheme for a class of unknown nonlinear systems with time-varying output constraints and full-state constraints. To address time-varying output constraints, a tubular adaptive boundary constraint function is designed to ena...
Saved in:
Published in | 2024 43rd Chinese Control Conference (CCC) pp. 875 - 882 |
---|---|
Main Authors | , , , , , |
Format | Conference Proceeding |
Language | English |
Published |
Technical Committee on Control Theory, Chinese Association of Automation
28.07.2024
|
Subjects | |
Online Access | Get full text |
Cover
Loading…
Summary: | This paper proposes a low-complexity predefined performance tracking control scheme for a class of unknown nonlinear systems with time-varying output constraints and full-state constraints. To address time-varying output constraints, a tubular adaptive boundary constraint function is designed to enable close adherence to predefined performance while meeting the constraints, without oscillations or overshoots. Full-state constraints are handled by incorporating them into the performance function, ensuring compliance during tracking. Compensation terms in the controller relax assumptions on the system and enhance robustness against uncertainties. Stability analysis shows rapid convergence of the tracking error to a small region during stable periods, with bounded signals in the closed-loop system Simulation results validate the effectiveness of the proposed control scheme. |
---|---|
ISSN: | 1934-1768 |
DOI: | 10.23919/CCC63176.2024.10662166 |