Approximation-Free Prescribed Performance Control With Prescribed Input Constraints

被引：8
作者：
Mishra, Pankaj K. [1 ]
Jagtap, Pushpak [1 ]
机构：
[1] Indian Inst Sci, Robert Bosch Ctr Cyber Phys Syst, Bengaluru 560012, India
来源：
IEEE CONTROL SYSTEMS LETTERS | 2023年 / 7卷
关键词：
Nonlinear systems; Stability analysis; Control systems; Trajectory; Upper bound; System dynamics; Steady-state; Constraint; input constraint; prescribed performance; low-complexity; approximation free; STRICT-FEEDBACK SYSTEMS; NONLINEAR-SYSTEMS; TRACKING CONTROL;
D O I：
10.1109/LCSYS.2022.3233723
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 letter considers the tracking control problem for an unknown nonlinear system with time-varying bounded disturbance subjected to a prescribed performance and input constraints. When performance and input constraints are specified simultaneously for such a problem, a trade-off is inevitable. Consequently, a feasibility condition for prescribing performance and input constraints is devised to address such difficulties of arbitrary prescription. In addition, an approximation-free controller with low complexity is proposed, which ensures that the constraints are never violated, provided that the feasibility condition holds. Finally, simulation results corroborate the effectiveness of the proposed controller.
引用
收藏
页码：1261 / 1266
页数：6
相关论文
共 28 条
  • [1] Control Barrier Function Based Quadratic Programs for Safety Critical Systems
    Ames, Aaron D.
    Xu, Xiangru
    Grizzle, Jessy W.
    Tabuada, Paulo
    [J]. IEEE TRANSACTIONS ON AUTOMATIC CONTROL, 2017, 62 (08) : 3861 - 3876
  • [2] Bounded-input prescribed performance control of uncertain Euler-Lagrange systems
    Asl, Hamed Jabbari
    Narikiyo, Tatsuo
    Kawanishi, Michihiro
    [J]. IET CONTROL THEORY AND APPLICATIONS, 2019, 13 (01) : 17 - 26
  • [3] Decentralized Robust Synchronization of Unknown High Order Nonlinear Multi-Agent Systems With Prescribed Transient and Steady State Performance
    Bechlioulis, Charalampos P.
    Rovithakis, George A.
    [J]. IEEE TRANSACTIONS ON AUTOMATIC CONTROL, 2017, 62 (01) : 123 - 134
  • [4] Bechlioulis CP, 2013, IEEE DECIS CONTR P, P5084, DOI 10.1109/CDC.2013.6760687
  • [5] Berger T, 2022, Arxiv, DOI arXiv:2202.05494
  • [6] Bubeck S, 2011, LECT NOTES ARTIF INT, V6925, P144, DOI 10.1007/978-3-642-24412-4_14
  • [7] Practical prescribed time tracking control over infinite time interval involving mismatched uncertainties and non-vanishing disturbances
    Cao, Ye
    Cao, Jianfu
    Song, Yongduan
    [J]. AUTOMATICA, 2022, 136
  • [8] Dynamic Surface Control Using Neural Networks for a Class of Uncertain Nonlinear Systems With Input Saturation
    Chen, Mou
    Tao, Gang
    Jiang, Bin
    [J]. IEEE TRANSACTIONS ON NEURAL NETWORKS AND LEARNING SYSTEMS, 2015, 26 (09) : 2086 - 2097
  • [9] Adaptive output-feedback control for MIMO nonlinear systems with time-varying delays using neural networks
    Chen, Weisheng
    Li, Ruihong
    [J]. JOURNAL OF SYSTEMS ENGINEERING AND ELECTRONICS, 2010, 21 (05) : 850 - 858
  • [10] Extremum-seeking control of state-constrained nonlinear systems
    DeHaan, D
    Guay, M
    [J]. AUTOMATICA, 2005, 41 (09) : 1567 - 1574
123