Asymptotic tracking control of strict‐feedback non‐linear systems with output constraints in the presence of input saturation

Edalati, Lida; Sedigh, Ali Khaki; Shooredeli, Mahdi Aliyari; Moarefianpour, Ali

doi:10.1049/iet-cta.2017.0563

Cited by 6 publications

(3 citation statements)

References 32 publications

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“…The proposed scheme ensures that the closed‐loop signals are bounded. In Reference 12, a controller based on the BLF, backstepping, and Nussbaum gain, is designed for strict‐feedback nonlinear systems with input saturation and external disturbances. The proposed algorithm ensures asymptotic convergence to zero of the output tracking error.…”

Section: Introductionmentioning

confidence: 99%

Integral sliding‐mode‐based robust output‐regulation for constrained and uncertain linear systems

Gutierrez

Mera

Ríos

2022

Intl J Robust & Nonlinear

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This article proposes a solution to the output regulation problem for uncertain linear systems with input saturation, state constraints, and external disturbances. The proposed robust control is composed of a linear and a nonlinear part.Each part of the control can be designed independently due to the use of an integral sliding-mode control approach. The linear control, whose design is based on the barrier Lyapunov function and the attractive ellipsoid method, considers the input saturation, the state constraints, and the parameter uncertainties. The nonlinear part is based on an integral sliding-mode control approach and it can compensate the effect of some matched disturbances. Also, a safe set where the system trajectories do not transgress the state constraints and input saturation, is provided. The proposed scheme guarantees asymptotic convergence to zero of the output regulation error coping with the system constraints and disturbances. A constructive and simple method, based on linear matrix inequalities, is proposed to compute the controller gains. Some simulation results illustrate the feasibility of the proposed scheme.

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Section: Introductionmentioning

confidence: 99%

Integral sliding‐mode‐based robust output‐regulation for constrained and uncertain linear systems

Gutierrez

Mera

Ríos

2022

Intl J Robust & Nonlinear

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“…Conditions that guarantee local Lipschitz continuity of the feedback control law are introduced to ensure asymptotic convergence to a given set. In [8] a BLF‐based backstepping controller combined with a Nussbaum gain design is proposed for non‐linear systems with time‐varying output constraints and input saturation. The proposed approach guarantees the boundedness of all closed‐loop signals and the fulfilment of the tracking task asymptotically.…”

Section: Introductionmentioning

confidence: 99%

Robust output‐regulation for uncertain linear systems with input saturation

Gutierrez¹,

Ríos

Mera

2020

IET Control Theory & Appl

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“…The existence of these nonsmooth nonlinearities limits the functionality of the system, causes oscillation and an undesirable error, or even may lead to instability in closed-loop systems. [11][12][13][14][15][16] Therefore, the effects of such factors must be considered in the procedure of controller design. Saturation is one of the common static nonlinearities that exist in many practical systems.…”

Section: Introductionmentioning

confidence: 99%

Adaptive Robust Tracker Design for Nonlinear Sandwich Systems Subject to Saturation Nonlinearities

Azhdari

Binazadeh

2020

Robotica

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SUMMARY This paper addresses the tracking problem for uncertain nonlinear sandwich systems that consist of two nonlinear subsystems and saturation nonlinearity, which is sandwiched between the subsystems. The considered sandwich system is also subject to a nonsymmetric input saturation constraint. Due to the nonsmooth characteristics of sandwiched saturation nonlinearity and also the input saturation function, the design procedure deals with hard challenges. To overcome these difficulties, a recursive approach is suggested that consists of two phases. For the implementation of the proposed approach, a tracking problem is solved in each phase. In the first phase, the second subsystem with sandwiched saturation nonlinearity is considered and the output tracking problem of the desired time-varying reference signal is solved using backstepping method. The outcome of the first phase is the desired reference signal that should be tracked by the first subsystem in the next phase. In the second phase, the robust control input is designed for the first subsystem by employing adaptive sliding mode technique such that, despite the nonsymmetric input saturation constraint, model uncertainty and external disturbances, the output of the first subsystem follows the desired signal that is obtained in the previous phase. The simulation results for a mechanical sandwich system are illustrated to verify the effectiveness of the proposed control method.

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Asymptotic tracking control of strict‐feedback non‐linear systems with output constraints in the presence of input saturation

Cited by 6 publications

References 32 publications

Integral sliding‐mode‐based robust output‐regulation for constrained and uncertain linear systems

Integral sliding‐mode‐based robust output‐regulation for constrained and uncertain linear systems

Robust output‐regulation for uncertain linear systems with input saturation

Adaptive Robust Tracker Design for Nonlinear Sandwich Systems Subject to Saturation Nonlinearities

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