BLF-based asymptotic tracking control for a class of time-varying full state constrained nonlinear systems

Abstract

This paper presents an adaptive control based on a tan-type barrier Lyapunov function for time-varying state constrained strict-feedback nonlinear systems to achieve asymptotic output tracking. The design procedure is constructive and yields a continuous actual control law, which guarantees that asymptotic output tracking is achieved. Furthermore, we show that the time-varying full state constraints are not violated for all time and that all closed-loop signals are bounded provided that some conditions on the initial states and control parameters are satisfied. Three simulation examples are provided to illustrate the performance of the proposed control scheme. One is a comparison study simulation, another is a practical single-link robot system and the last is a three-order nonlinear system.

Adaptive tracking control for nonlinear time-delay systems with time-varying full state constraints

“…Both time delay and time-varying full state constraints for uncertain nonlinear systems are considered in the paper. The proposed control method is more applicable than the methods in the aforementioned works (Li and Li, 2017; Liu et al, 2017; Wang et al, 2018a, 2019).…”

“…Remark 5: In the work of Liu et al (2017) and Wang et al (2018a, 2019), BLFs are employed to deal with time-varying state constraints. However, f ( · ) in system (1) is parametric uncertain and the time delay is not considered.…”

“…Full state constraints were solved in Li et al (2016a) and Liu and Tong (2016). An adaptive tracking controller for a class of time-varying full state constrained nonlinear systems was proposed based on tan-type BLFs in Wang et al (2019). However, the time-delay which has a great influence on the real system is not taken into account in the above studies.…”

“…The unknown control gain functions are taken into account in the nonlinear time-delay systems with full state constraints. However, control methods in Liu et al (2017) and Wang et al (2018a, 2019) require control gain functions to be known.…”

Relative Threshold-Based Event-Triggered Control for Nonlinear Constrained Systems With Application to Aircraft Wing Rock Motion

“…where z 1 is the tracking error, z i stand for the transformation errors, and β i are stabilizing functions to be structured in the later contents. All the designed stabilizing functions β i are required to be bounded, i.e., β i <β i withβ i being positive constants (see the contents above Eq.2 in [54]). The design procedure from step 1 to step n is shown in the following.…”