Performance Guaranteed Tracking Control for Nonlinear Systems With Time-Varying Output Constraints and Full-State Constraints

被引：0
作者：
Wu, Xiaorui [1 ]
Li, Wenrui [1 ]
Gao, Yang [1 ]
Qian, Chen [1 ]
Wu, Yifei [1 ]
Chen, Qingwei [1 ]
机构：
[1] Nanjing Univ Sci & Technol, Sch Automat, Nanjing, Peoples R China
来源：
2024 43RD CHINESE CONTROL CONFERENCE, CCC 2024 | 2024年
基金：
中国国家自然科学基金;
关键词：
Low-complexity; Performance Guaranteed; Uncertain Nonlinear Systems; Output Constraints; Full-State Constraints; PRESCRIBED PERFORMANCE; CONSENSUS TRACKING; DELAY SYSTEMS;
D O I：
暂无
中图分类号：
TP [自动化技术、计算机技术];
学科分类号：
0812 ;
摘要：
This paper proposes a low-complexity predefined performance tracking control scheme for a class of unknown nonlinear systems with time-varying output constraints and full-state constraints. To address time-varying output constraints, a tubular adaptive boundary constraint function is designed to enable close adherence to predefined performance while meeting the constraints, without oscillations or overshoots. Full-state constraints are handled by incorporating them into the performance function, ensuring compliance during tracking. Compensation terms in the controller relax assumptions on the system and enhance robustness against uncertainties. Stability analysis shows rapid convergence of the tracking error to a small region during stable periods, with bounded signals in the closed-loop system. Simulation results validate the effectiveness of the proposed control scheme.
引用
收藏
页码：875 / 882
页数：8
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