Journal
IEEE TRANSACTIONS ON SYSTEMS MAN CYBERNETICS-SYSTEMS
Volume 50, Issue 8, Pages 3100-3104Publisher
IEEE-INST ELECTRICAL ELECTRONICS ENGINEERS INC
DOI: 10.1109/TSMC.2018.2841063
Keywords
Hysteresis; Lyapunov methods; Adaptation models; Control systems; Adaptive control; Electrodes; Adaptive control scheme; backlash-like hysteresis; barrier Lyapunov function (BLF); constrained systems; Partial state constraints
Funding
- National Natural Science Foundation of China [61622303, 61603164, 61773188]
- Program for Liaoning Innovative Research Team in University [LT2016006]
- Fundamental Research Funds for the Universities of Liaoning Province [JZL201715402]
- Program for Distinguished Professor of Liaoning Province
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This paper focuses on the adaptive control problem for a class of nonlinear single-input single-output lower triangular systems with partial state constraints and unknown backlash-like hysteresis. To prevent the partial states from transgressing the predefined constrained region, a barrier Lyapunov function is presented, whose values will increase to infinity when any of its parameters grows to a given boundary value. To counteract the effect caused by the backlash-like hysteresis, an auxiliary variable with its adaptive mechanism is introduced in the backstepping technique. At the same time, the output of the considered systems can track the reference signal, and all the variables in the design procedure are uniformly ultimate boundedness. In the end, a numerical example is employed to validate the efficiency of the developed theoretical method.
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