Barrier Lyapunov Function Based Adaptive Cross Backstepping Control for Nonlinear Systems with Time-varying Partial State Constraints

2020 ◽  
Vol 18 (7) ◽  
pp. 1771-1781 ◽  
Author(s):  
Chun-xiao Wang ◽  
Lu Qi ◽  
Jia-yun Liu ◽  
Jia-li Yu
Keyword(s):  
Nonlinear Systems ◽  
Lyapunov Function ◽  
State Constraints ◽  
Backstepping Control ◽  
Time Varying ◽  
Barrier Lyapunov Function ◽  
Partial State

Tracking Control for Switched Nonlinear Systems Subject to Time-Varying Output Constraints

2012 ◽  
Author(s):  
Ben Niu ◽  
Georgi M. Dimirovski ◽  
Jun Zhao
Keyword(s):  
Nonlinear Systems ◽  
Lyapunov Function ◽  
Tracking Control ◽  
Closed Loop ◽  
Time Varying ◽  
Switched Nonlinear Systems ◽  
Feedback Form ◽  
Barrier Lyapunov Function ◽  
Output Constraints ◽  
Asymptotic Tracking

In this paper, we address the tracking control problem for switched nonlinear systems in strict-feedback form with time-varying output constraints. To prevent the output from violating the time-varying constraints, we employ a Barrier Lyapunov Function, which relies explicitly on time. Based on the simultaneous domination assumption, we design a controller for the switched system, which guarantees that asymptotic tracking is achieved without transgression of the constraints and all closed-loop signals remain bounded under arbitrary switchings. The effectiveness of the proposed results is illustrated using a numerical example.

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