Barrier Function-Based Adaptive Lyapunov Redesign for Systems Without A Priori Bounded Perturbations

• 成果类型: Article
• 署名作者: Cruz-Ancona, Christopher D.; Estrada, Manuel A.; Fridman, Leonid
• 署名单位: Universidad Nacional Autonoma de Mexico
• 刊物名称: IEEE TRANSACTIONS ON AUTOMATIC CONTROL
• ISSN/ISSBN: 0018-9286
• DOI: 10.1109/TAC.2021.3107453
• 发表日期: 2022
• 页码: 3851-3862
• 关键词: trajectory; uncertainty; Perturbation methods; MANIFOLDS; Adaptive systems; Lyapunov methods; Sliding mode control; Adaptive control; Barrier function; Lyapunov redesign; sliding modes; uncertain systems

摘要

The problem of an adaptive Lyapunov redesign is revisited for a class of systems without a priori knowledge of the function majoring nonlinear uncertainties and disturbances. An adaptive barrier function-based gain for unit control is proposed, ensuring an arbitrary a priori predefined uniform ultimate bound for solutions despite the presence of uncertainties and disturbances. The usage of positive semi-definite barrier function generates a continuous control signal adjusting the chattering, when the perturbations are decreasing to zero.