Journal
INTERNATIONAL JOURNAL OF CONTROL
Volume 87, Issue 2, Pages 281-290Publisher
TAYLOR & FRANCIS LTD
DOI: 10.1080/00207179.2013.828854
Keywords
adaptive control; output-feedback control; barrier Lyapunov function; nonlinear systems
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Funding
- National Natural Science Foundation of China [61074014, 61104017, 61374113]
- Program for Liaoning Innovative Research Team in University [LT2012013]
- Program for Liaoning Excellent Talents in University [LJQ2011064]
- Foundation of Educational Department of Liaoning Province [L2013243]
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This paper studies an adaptive output-feedback control for a class of nonlinear single-input and single-output (SISO) systems with the full-state constraints. A state observer is designed to estimate those unmeasured states. At present, all the results in the output-feedback area ignore the effects of the full-state constraints. The presence of these constraints results in a complicated procedure and the major difficulties in the design. The barrier Lyapunov function (BLF) and a novel design procedure are given to overcome these difficulties. The adaptation law and the controllers are obtained based on the backstepping design procedure. In addition, only one adjustable parameter needs to be updated, and thus, the online computation burden is alleviated. The stability of the closed-loop system is proven by using the Lyapunov theorem. A simulation example is given to verify the effectiveness of the approach.
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