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...

Full description

Saved in:
Bibliographic Details
Published in2024 43rd Chinese Control Conference (CCC) pp. 875 - 882
Main Authors Wu, Xiaorui, Li, Wenrui, Gao, Yang, Qian, Chen, Wu, Yifei, Chen, Qingwei
Format Conference Proceeding
LanguageEnglish
Published Technical Committee on Control Theory, Chinese Association of Automation 28.07.2024
Subjects
Full-State Constraints
Low-complexity
Mathematical models
Numerical simulation
Output Constraints
Performance Guaranteed
Robustness
Simulation
Stability analysis
Un certain Nonlinear Systems
Uncertain systems
Uncertainty
Online AccessGet full text

Cover

More Information
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