Journal
AUTOMATICA
Volume 47, Issue 11, Pages 2511-2516Publisher
PERGAMON-ELSEVIER SCIENCE LTD
DOI: 10.1016/j.automatica.2011.08.044
Keywords
Barrier function; Constraints; Time-varying systems; Lyapunov methods; Adaptive control
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This paper presents control design for strict feedback nonlinear systems with time-varying output constraints. An asymmetric time-varying Barrier Lyapunov Function (BLF) is employed to ensure constraint satisfaction. By allowing the barriers to vary with the desired trajectory in time, the initial condition requirements are relaxed. Through a change of tracking error coordinates, we eliminate the explicit dependence of the BLF on time, thereby simplifying the analysis of constraint satisfaction. We show that asymptotic output tracking is achieved without violation of the output constraint, and also quantify the transient performance bound as a function of time that converges to zero. To handle parametric model uncertainty, we present an adaptive controller that ensures constraint satisfaction during the transient phase of online parameter adaptation. The performance of the proposed control is illustrated through a simulation example. (C) 2011 Elsevier Ltd. All rights reserved.
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