Low-Complexity Control for a Class of Uncertain MIMO Nonlinear Systems Under Generalized Time-Varying Output Constraints

• 成果类型: Article
• 署名作者: Mehdifar, Farhad; Lindemann, Lars; Bechlioulis, Charalampos P.; Dimarogonas, Dimos V.
• 署名单位: Royal Institute of Technology; University of Southern California; University of Patras
• 刊物名称: IEEE TRANSACTIONS ON AUTOMATIC CONTROL
• ISSN/ISSBN: 0018-9286
• DOI: 10.1109/TAC.2024.3524276
• 发表日期: 2025
• 关键词: SIGNAL TEMPORAL LOGIC; PRESCRIBED TRANSIENT; tracking control; Barrier functions; funnel control; performance

摘要

This article introduces a novel control framework to address the satisfaction of multiple time-varying output constraints in uncertain high-order multi-input-multi-output (MIMO) nonlinear control systems. Unlike existing methods, which often assume that the constraints are always decoupled and feasible, our approach can handle coupled time-varying constraints even in the presence of potential infeasibilities. First, it is shown that satisfying multiple constraints essentially boils down to ensuring the positivity of a scalar variable, representing the signed distance from the boundary of the time-varying output-constrained set. To achieve this, a single consolidating constraint is designed that, when satisfied, guarantees convergence to and invariance of the time-varying output-constrained set within a user-defined finite time. Next, a novel robust and low-complexity feedback controller is proposed to ensure the satisfaction of the consolidating constraint. Additionally, we provide a mechanism for online modification of the consolidating constraint to find a least violating solution when the constraints become mutually infeasible for some time. Finally, a simulation study validates the proposed approach.