Composite Boundary Structure-Based Tracking Control for Nonlinear State-Dependent Constrained Systems

• 成果类型: Article
• 署名作者: Li, Dapeng; Han, Hong-Gui; Qiao, Jun-Fei
• 署名单位: Beijing University of Technology
• 刊物名称: IEEE TRANSACTIONS ON AUTOMATIC CONTROL
• ISSN/ISSBN: 0018-9286
• DOI: 10.1109/TAC.2024.3372888
• 发表日期: 2024
• 页码: 5686-5693
• 关键词: Nonlinear systems; Lyapunov methods; Explosions; control systems; Adaptive control; uncertainty; Tracking loops; Adaptive constraint control; composite boundary structure; dynamic surface control; state-dependent mapping

摘要

In this article, the tracking control problem is investigated for uncertain nonlinear multiple constrained systems. The constraints on tracking error and system states are considered as asymmetric, time-varying, and state-dependent case, which is more general and appropriately unsolved at the present stage. To deal with constraint problem, an adaptive constraint control method based on composite boundary structure is proposed in this article. The state-dependent mapping is introduced to ensure the tracking error and full system states within the asymmetric and state-dependent constraint regions without involved feasibility condition on virtual controllers. Meanwhile, the singularity problem caused by the constrained variables approaching the constraint boundaries is considered in this article. The composite boundary structure is incorporated into controller design to avoid the control signals and adaptive laws tending to infinity. The advantage and availability of the developed control method are exhibited by simulation validation and results analysis.