Finite-time tracking control for strict-feedback nonlinear systems with full state constraints

2017 ◽  
Vol 92 (6) ◽  
pp. 1426-1433 ◽  
Author(s):  
Chunxiao Wang ◽  
Yuqiang Wu
Keyword(s):  
Nonlinear Systems ◽  
Finite Time ◽  
Tracking Control ◽  
State Constraints ◽  
Full State ◽  
Full State Constraints ◽  
Strict Feedback

scholarly journals Finite-Time Tracking Control for Nonstrict-Feedback State-Delayed Nonlinear Systems with Full-State Constraints and Unmodeled Dynamics

Complexity ◽  
2020 ◽  
Vol 2020 ◽  
pp. 1-18
Author(s):  
Yangang Yao ◽  
Jieqing Tan ◽  
Jian Wu
Keyword(s):  
Nonlinear Systems ◽  
Finite Time ◽  
Tracking Control ◽  
State Constraints ◽  
Unmodeled Dynamics ◽  
Time Varying ◽  
Cubic Form ◽  
Time Control ◽  
Full State ◽  
Full State Constraints

The problem of finite-time tracking control is discussed for a class of uncertain nonstrict-feedback time-varying state delay nonlinear systems with full-state constraints and unmodeled dynamics. Different from traditional finite-control methods, a C 1 smooth finite-time adaptive control framework is introduced by employing a smooth switch between the fractional and cubic form state feedback, so that the desired fast finite-time control performance can be guaranteed. By constructing appropriate Lyapunov-Krasovskii functionals, the uncertain terms produced by time-varying state delays are compensated for and unmodeled dynamics is coped with by introducing a dynamical signal. In order to avoid the inherent problem of “complexity of explosion” in the backstepping-design process, the DSC technology with a novel nonlinear filter is introduced to simplify the structure of the controller. Furthermore, the results show that all the internal error signals are driven to converge into small regions in a finite time, and the full-state constraints are not violated. Simulation results verify the effectiveness of the proposed method.

Tracking control for strict-feedback nonlinear systems with time-varying full state constraints

2018 ◽  
Vol 40 (14) ◽  
pp. 3964-3977 ◽  
Author(s):  
Chunxiao Wang ◽  
Yuqiang Wu ◽  
Zhongcai Zhang
Keyword(s):  
Nonlinear Systems ◽  
Tracking Control ◽  
State Constraints ◽  
Tracking Error ◽  
Input Saturation ◽  
Constrained Systems ◽  
Time Varying ◽  
Full State ◽  
Full State Constraints ◽  
Strict Feedback

This paper focuses on the tracking control problem for strict-feedback nonlinear systems subject to asymmetric time-varying full state constraints. Time-varying asymmetric barrier Lyapunov functions are employed to ensure time-varying constraint satisfaction. By allowing the barriers to vary with the desired trajectory in time, the initial condition requirements are relaxed. High-order coupling terms caused by backstepping are cancelled through a novel variable substitution for the first time. Besides the normal case, where the full knowledge of the system is available, we also handle scenarios of parametric uncertainties. Asymptotic tracking is achieved without violation of any constraints, and all signals in the closed-loop system are ultimately bounded. State-constrained systems with input saturation and bounded disturbances are also considered; the tracking error converges to a bounded set around zero. The performance of the asymmetric-barrier-Lyapunov-function-based control is illustrated through a numerical example.

Sign in / Sign up

Export Citation Format

Share Document