Tracking control of MIMO nonlinear systems under full state constraints: A Single-parameter adaptation approach free from feasibility conditions

Zhao, Kai; Song, Yongduan; Zhang, Zhirong

doi:10.1016/j.automatica.2019.05.032

Cited by 138 publications

(69 citation statements)

References 24 publications

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“…The value of a BLF tends to infinity when the boundary of the constraint region is approached. Recently, the BLF approach has been applied for MIMO nonlinear control systems in particular forms [25]- [27]. Extending these results to general nonlinear control-affine systems is difficult as the backstepping technique is employed in the BLF approach.…”

Section: Introductionmentioning

confidence: 99%

Stabilization of Nonlinear Control-Affine Systems With Multiple State Constraints

Jhang

Yung

2020

IEEE Access

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This paper considers the synthesis of stabilizing controllers for nonlinear control-affine systems under multiple state constraints. A new control Lyapunov-barrier function approach is introduced for solving the considered problem. Assuming a classical control Lyapunov function, two possible methods for constructing new control Lyapunov-barrier functions are discussed. Sufficient conditions for the existence of new control Lyapunov-barrier functions are derived. With modifying the Sontag's formula, an explicit stateconstrained stabilizing feedback law is presented. Finally, two numerical examples are provided to illustrate the obtained theoretical results.

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Section: Introductionmentioning

confidence: 99%

Stabilization of Nonlinear Control-Affine Systems With Multiple State Constraints

Jhang

Yung

2020

IEEE Access

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“…In Reference [37], a full-order terminal SMC is designed for MIMO systems with unmatched uncertainties. In Reference [38], a tracking control problem of a class of MIMO nonlinear systems under asymmetric full-state constraints is proposed using dynamic surface control. In Reference [39], adaptive disturbance rejection tracking control is proposed with the asymptotically converging output tracking errors for MIMO nonlinear Euler-Lagrange systems, with unknown time-varying disturbances under input saturation.…”

Section: Related Workmentioning

confidence: 99%

“…, p} and l ∈ {1,2, … hold, then the closed-loop system is asymptotically stable, i.e.,{1,2,… , γ }.Proof. The closed-loop tracking error between the reference p i,Y i e i,Y i(38) a linearization control law (LCL) u * of the form,…”

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confidence: 99%

Improved Active Disturbance Rejection-Based Decentralized Control for MIMO Nonlinear Systems: Comparison with The Decoupled Control Scheme

et al. 2020

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A decentralized control scheme is developed in this paper based on an improved active disturbance rejection control (IADRC) for output tracking of square Multi-Input-Multi-Output (MIMO) nonlinear systems and compared with the decoupled control scheme. These nonlinear MIMO systems were subjected to exogenous disturbances and composed of high couplings between subsystems, input couplings, and uncertain elements. In the decentralized control scheme, it was assumed that the input couplings and subsystem couplings were both parts of the generalized disturbance. Moreover, the generalized disturbance included other components, such as exogenous disturbances and system uncertainties, and it was estimated within the context of Active Disturbance rejection Control (ADRC) via a novel nonlinear higher order extended state observer (NHOESO) from the measured output and canceled from the input channel in a real-time fashion. Then, based on the designed NHOESO, a separate feedback control law was developed for each subsystem to achieve accurate output tracking for given reference input. With the proposed decentralized control scheme, the square MIMO nonlinear system was converted into approximately separate linear time invariant Single-Input-Single-Output (SISO) subsystems. Numerical simulations in a MATLAB environment showed the effectiveness of the proposed technique, where it was applied on a hypothetical MIMO nonlinear system with strong couplings and vast uncertainties. The proposed decentralized control scheme reduced the total control signal energy by 20.8% as compared to the decoupled control scheme using Conventional ADRC (CADRC), while the reduction was 27.18% using the IADRC.

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“…To deal with this problem, a novel algorithm was constructed in Reference 26 for nonlinear strict‐feedback systems, which removed the feasibility conditions by introducing a new nonlinear state‐dependent function and a new coordinate transformation. To further improve this result, Reference 27 modified the transformation function in Reference 26 so that it can be used to design a unified controller to handle the situation with or without constraints.…”

Section: Introductionmentioning

confidence: 99%

Hybrid threshold strategy‐based adaptive tracking control for nonlinear stochastic systems with full‐state constraints

Chen

Meng

2020

Intl J Robust & Nonlinear

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This article focuses on the adaptive tracking control problem for a class of interconnected nonlinear stochastic systems under full-state constraints based on the hybrid threshold strategy. Different from the existing works, we propose a novel pre-constrained tracking control algorithm to deal with the full-state constraint problem. First, a novel nonlinear transformation function and a new coordinate transformation are developed to constrain state variables, which can directly cope with asymmetric state constraints. Second, the hybrid threshold strategy is constructed to provide a reasonable way in balancing system performance and communication constraints. By the use of dynamic surface control technique and neural network approximate technique, a smooth pre-constrained tracking controller with adaptive laws is designed for the interconnected nonlinear stochastic systems. Moreover, based on the Lyapunov stability theory, it is proved that all state variables are successfully pre-constrained within asymmetric boundaries. Finally, a simulation example is presented to verify the effectiveness of proposed control algorithm.

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Tracking control of MIMO nonlinear systems under full state constraints: A Single-parameter adaptation approach free from feasibility conditions

Cited by 138 publications

References 24 publications

Stabilization of Nonlinear Control-Affine Systems With Multiple State Constraints

Stabilization of Nonlinear Control-Affine Systems With Multiple State Constraints

Improved Active Disturbance Rejection-Based Decentralized Control for MIMO Nonlinear Systems: Comparison with The Decoupled Control Scheme

Hybrid threshold strategy‐based adaptive tracking control for nonlinear stochastic systems with full‐state constraints

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