Saturation-Tolerant Prescribed Control for a Class of MIMO Nonlinear Systems

Balanced control between performance and saturation for constrained nonlinear systems

“…Consider the nonlinear system in form of ( 1) under Assumptions 1-3. With the auxiliary system (21), the control law is designed according to (23). The dynamic of performance function is given in the first equation of ( 21) with PSE f p (z, 𝜇) specified as (26), respectively.…”

“…The adaptive prescribed performance control in Reference 21 accomplishes a trade‐off between input limitations and output constraints, by relaxing the performance bounds of conventional PPC, when the saturation takes place. Similarly, a flexible performance control (FPC) scheme 22,23 introduces the modification signals into the predetermined performance function, by splitting the impact of saturation and passing it on to the upper and lower performance functions, thus features the capability of avoiding performance violation due to input saturation.…”

Adaptive safe control for tethered aircrafts with input and output constraints

“…Based on the control strategy, Yong et al 3 designed a novel auxiliary system to modify the performance function when input saturation occurs, leading to the outputs meeting the constraints formed by the modified performance functions. Similarly, Ji et al 20 presented a saturation‐tolerant prescribed performance function by substituting nonnegative modified signals into the tunnel prescribed performance function, and constructed an auxiliary system to build the correlations between input saturation errors and performance constraints.…”

“…Different from References 15 and 18, the conflict between input saturations and ATVOCs is considered to guarantee system safety. More importantly, compared with References 3 and 20, the system's own adjustment capability is introduced to further improve system performance. By synthesizing the disturbance observer, shifting function, asymmetric BLF and auxiliary system within the dynamic surface control (DSC) framework, an adaptive safe control scheme is presented to ensure that the tethered aircraft tracks safely the desired trajectory and satisfies the deferred ATVOC in the presence of unknown disturbances, input saturations and any bounded initial condition.…”

Balanced control between performance and saturation for constrained nonlinear systems

“…Every control problem can be formed as a constrained optimization problem in MPC such that the control performance can be optimized without saturation happens. A flexible performance control (FPC) scheme [17], [18] introduces the modification signals into the predetermined performance function, thus features the capability of avoiding performance violation due to input saturation. As the method termed explicit reference governor (ERG) for tacking problem developed in [19]- [21], the performance and control input constraints are converted into limitations on upper Lyapunov function (or the limitation in an invariant set), and the balance is achieved through the application of a trade-off reference trajectory.…”