Full state constraints-based adaptive control for switched nonlinear pure-feedback systems

被引:10
作者
Bian, Yanan [1 ,2 ]
Chen, Yuhao [1 ,2 ]
Long, Lijun [1 ,2 ]
机构
[1] Northeastern Univ, State Key Lab Synthet Automat Proc Ind, Shenyang 110819, Liaoning, Peoples R China
[2] Northeastern Univ, Coll Informat Sci & Engn, Shenyang 110819, Liaoning, Peoples R China
基金
中国国家自然科学基金;
关键词
Full state constraints; switched pure-feedback systems; adaptive control; common Lyapunov function; BARRIER LYAPUNOV FUNCTIONS; FINITE-TIME STABILIZATION; DYNAMIC SURFACE CONTROL; OUTPUT-FEEDBACK; TRACKING CONTROL; GLOBAL STABILIZATION; CONTROL DESIGN; STABILITY; STABILIZABILITY; PERFORMANCE;
D O I
10.1080/00207721.2018.1533050
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 investigates the problem of full state constraints-based adaptive control for a class of switched nonlinear pure-feedback systems under arbitrary switchings. First, the switched pure-feedback system is transformed into a switched strict-feedback system with non-affine terms based on the mean value theorem. Then, by exploiting the common Lyapunov function (CLF) method, the Barrier Lyapunov function method and backstepping, state feedback controllers of individual subsystems and a common Barrier Lyapunov function (CBLF) are constructed, which guarantee that all signals in the closed-loop system are global uniformly bounded under arbitrary switchings, and full state constraints are not violated. Furthermore, the tracking error can converge to a bounded compact set. Two examples, which include a single-link robot as a practical example, are provided to demonstrate the effectiveness of the proposed design method.
引用
收藏
页码:3094 / 3107
页数:14
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