Further Results on Adaptive Practical Tracking for High-Order Nonlinear Systems With Full-State Constraints

被引:35
|
作者
Xie, Xue-Jun [1 ]
Wu, You [1 ]
Hou, Zeng-Guang [2 ]
机构
[1] Qufu Normal Univ, Inst Automat, Qufu 273165, Shandong, Peoples R China
[2] Chinese Acad Sci, Inst Automat, State Key Lab Management & Control Complex Syst, Beijing 100190, Peoples R China
基金
中国国家自然科学基金;
关键词
Nonlinear systems; Adaptive systems; Trajectory; Safety; Robots; Lyapunov methods; Fuzzy systems; Adaptive practical tracking control; feasibility conditions; full-state constraints; high-order nonlinear systems; BARRIER LYAPUNOV FUNCTIONS; GLOBAL STABILIZATION;
D O I
10.1109/TCYB.2021.3069865
中图分类号
TP [自动化技术、计算机技术];
学科分类号
0812 ;
摘要
In this article, an adaptive practical tracking control scheme is presented for full-state constrained high-order nonlinear systems. By skillfully introducing the adaptive gain, nonlinear transformed functions and sign functions into control design, a novel continuous state-feedback controller is constructed without imposing restrictive approximation techniques and feasibility conditions. Under mild assumptions, the boundedness of all the closed-loop signals can be guaranteed, full-state constraints are not transgressed for all time, and the tracking error tends to an arbitrarily small region of zero in a finite time.
引用
收藏
页码:9978 / 9985
页数:8
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