Finite Settling Time Control of Nonlinear Systems in Presence of Matched Perturbations using Barrier Lyapunov Function

2021 ◽  
Author(s):  
Saeed Mazhar ◽  
Rameez Khan ◽  
Fahad Mumtaz Malik ◽  
Anjum Saeed ◽  
Hameed Ullah
Keyword(s):  
Nonlinear Systems ◽  
Lyapunov Function ◽  
Settling Time ◽  
Barrier Lyapunov Function ◽  
Time Control

Adaptive control based on Barrier Lyapunov function for a class of full-state constrained stochastic nonlinear systems with dead-zone and unmodeled dynamics

2021 ◽  
pp. 014233122098563
Author(s):  
Fei Shen ◽  
Xinjun Wang ◽  
Xinghui Yin
Keyword(s):  
Adaptive Control ◽  
Nonlinear Systems ◽  
Lyapunov Function ◽  
Dead Zone ◽  
Small Neighborhood ◽  
Unmodeled Dynamics ◽  
Stochastic Nonlinear Systems ◽  
Dynamic Surface ◽  
Barrier Lyapunov Function ◽  
Full State

This paper investigates the problem of adaptive control based on Barrier Lyapunov function for a class of full-state constrained stochastic nonlinear systems with dead-zone and unmodeled dynamics. To stabilize such a system, a dynamic signal is introduced to dominate unmodeled dynamics and an assistant signal is constructed to compensate for the effect of the dead zone. Dynamic surface control is used to solve the “complexity explosion” problem in traditional backstepping design. Two cases of symmetric and asymmetric Barrier Lyapunov functions are discussed respectively in this paper. The proposed Barrier Lyapunov function based on backstepping method can ensure that the output tracking error converges in the small neighborhood of the origin. This control scheme can ensure that semi-globally uniformly ultimately boundedness of all signals in the closed-loop system. Two simulation cases are proposed to verify the effectiveness of the theoretical method.

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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