期刊
IET CONTROL THEORY AND APPLICATIONS
卷 11, 期 4, 页码 524-530出版社
INST ENGINEERING TECHNOLOGY-IET
DOI: 10.1049/iet-cta.2016.0333
关键词
Lyapunov methods; control nonlinearities; nonlinear control systems; stability; feedback; closed loop systems; functional analysis; control system synthesis; adaptive control; barrier Lyapunov functions-based dynamic surface control; full state constraints; adaptive control; pure-feedback nonlinear systems; mean value theorem; nonlinearities; backstepping design; closed-loop signals; high order differentiability; stabilising functions; closed-loop system; tracking error; BLF-based DSC
资金
- Natural Science Foundation of China (NSFC) [61673243, 61273091, 61303198, 61304008]
- PhD Programs Foundation of Ministry of Education of China [20123705110002]
- Project of Taishan Scholar of Shandong Province of China
- project of twelfth five-year education science of Shandong Province [ZBS15001]
This studies an adaptive control problem of pure-feedback non-linear systems with full state constraints. The mean value theorem is employed to deal with unknown non-linearities. A novel backstepping design is constructed via barrier Lyapunov function (BLF) combined with dynamic surface control (DSC). The BLF guarantees the full state constraints are not violated and all the closed-loop signals remain bounded. DSC solves the problems of restrictions on high order differentiability of stabilising functions and avoiding the complexity that arises due to the explosion of terms in backstepping design. It is shown that all the signals in the closed-loop system are ultimately bounded and the tracking error converges to an adjustable neighbourhood of the origin while the full state constraints remain unchanged. The performance of the BLF-based DSC is illustrated with two simulation examples.
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