Approximation-Free Control for Unknown Systems With Performance and Input Constraints

• 成果类型: Article
• 署名作者: Mishra, Pankaj K.; Jagtap, Pushpak
• 署名单位: National Institute of Technology (NIT System); National Institute of Technology Hamirpur; Indian Institute of Science (IISC) - Bangalore
• 刊物名称: IEEE TRANSACTIONS ON AUTOMATIC CONTROL
• ISSN/ISSBN: 0018-9286
• DOI: 10.1109/TAC.2024.3519275
• 发表日期: 2025
• 页码: 3417-3424
• 关键词: Nonlinear systems; trajectory; steady-state; safety; Backstepping; vectors; Target tracking; Stability criteria; control design; actuators; Input constraints; Nonlinear systems; performance constraints; tracking control

摘要

This article addresses the problem of tracking control for an unknown nonlinear system with time-varying bounded disturbance subjected to prescribed performance and input constraints (PIC). Since the simultaneous prescription of PIC involves a tradeoff, we propose an analytical feasibility condition to prescribe a feasible PIC, which also results in a feasible initial state set as a corollary. In addition, we propose an approximation-free controller to ensure the tracking performance meets the prescribed PIC. The effectiveness of the proposed approach is demonstrated through numerical examples.