scholarly journals Adaptive Control of a Class of Switched Nonlinear System with Partial State Constraints Using a Barrier Lyapunov Function

2017 ◽  
Vol 2017 ◽  
pp. 1-7
Author(s):  
Enchang Cui ◽  
Yuanwei Jing ◽  
Xiaoting Gao
Keyword(s):  
Lyapunov Function ◽  
Adaptive Controller ◽  
State Constraint ◽  
Adaptive Tracking Control ◽  
Barrier Lyapunov Function ◽  
Arbitrary Switching ◽  
Switched Nonlinear System ◽  
Asymptotic Tracking ◽  
Partial State ◽  
And Control

This paper discusses partial state constraint adaptive tracking control problem of switched nonlinear systems with uncertain parameters. In order to ensure boundedness of the outputs and prevent the states from violating the constraints, a barrier Lyapunov function (BLF) is employed. Based on backstepping method, an adaptive controller for the switched system is designed. Furthermore, the state-constrained asymptotic tracking under arbitrary switching is performed. The closed-loop signals keep bounded when the initial states and control parameters are given. Finally, examples and simulation results are reported to illustrate the effectiveness of the proposed controller.

Finite-Time-Disturbance-Observer-Based Tracking Control of DC Motors With Velocity Constraint

2015 ◽  
Author(s):  
Z. L. Dong ◽  
J. Y. Yao ◽  
Z. B. Xu ◽  
D. W. Ma
Keyword(s):  
Lyapunov Function ◽  
Finite Time ◽  
Disturbance Observer ◽  
Design Procedure ◽  
Tracking Performance ◽  
Backstepping Design ◽  
Barrier Lyapunov Function ◽  
Dc Motors ◽  
Asymptotic Tracking ◽  
Velocity Constraint

The integration design of high tracking performance and velocity constraint for dc motors is present in this paper. When designing advanced controllers for dc motors, it would be best to take the constraint of output velocity into consideration due to performance and/or physical limitations. A barrier Lyapunov function, which grows to infinity when its arguments approach some pre-set limits, is utilized to prevent constraint violation. By ensuring the stabilization of the barrier Lyapunov function, and imposing a hard-bound on associated error signals through the steps of the backstepping design procedure, the system output velocity constraint is guaranteed to be not transgressed. However, potential disturbances, including unmodelled dynamic effects, parametric uncertainties and external disturbances may destroy above theoretical results and degrade the tracking performance. In this paper, a finite time disturbance observer is employed and integrated with the barrier Lyapunov function based backstepping design to achieve the asymptotic tracking without the violation of the velocity constraint meanwhile overcoming the disturbances. Extensive simulation results are provided to illustrate the performance of the proposed control strategy.

Tracking Control for Switched Nonlinear Systems Subject to Time-Varying Output Constraints

2012 ◽  
Author(s):  
Ben Niu ◽  
Georgi M. Dimirovski ◽  
Jun Zhao
Keyword(s):  
Nonlinear Systems ◽  
Lyapunov Function ◽  
Tracking Control ◽  
Closed Loop ◽  
Time Varying ◽  
Switched Nonlinear Systems ◽  
Feedback Form ◽  
Barrier Lyapunov Function ◽  
Output Constraints ◽  
Asymptotic Tracking

In this paper, we address the tracking control problem for switched nonlinear systems in strict-feedback form with time-varying output constraints. To prevent the output from violating the time-varying constraints, we employ a Barrier Lyapunov Function, which relies explicitly on time. Based on the simultaneous domination assumption, we design a controller for the switched system, which guarantees that asymptotic tracking is achieved without transgression of the constraints and all closed-loop signals remain bounded under arbitrary switchings. The effectiveness of the proposed results is illustrated using a numerical example.

scholarly journals Integrated Guidance and Control of Interceptor Missile Based on Asymmetric Barrier Lyapunov Function

2019 ◽  
Vol 2019 ◽  
pp. 1-17
Author(s):  
Xiang Liu ◽  
Xiaogeng Liang
Keyword(s):  
Lyapunov Function ◽  
Control Method ◽  
Sliding Mode ◽  
Aerodynamic Force ◽  
Dynamic Control ◽  
Dynamic Surface ◽  
Guidance And Control ◽  
Barrier Lyapunov Function ◽  
Integrated Guidance And Control ◽  
And Control

In this study, a novel integrated guidance and control (IGC) algorithm based on an IGC method and the asymmetric barrier Lyapunov function is designed; this algorithm is designed for the interceptor missile which uses a direct-force/aerodynamic-force control scheme. First, by considering the coupling between the pitch and the yaw channels of the interceptor missile, an IGC model of these channels is established, and a time-varying gain extended state observer (TVGESO) is designed to estimate unknown interferences in the model. Second, by considering the system output constraint problem, an asymmetric barrier Lyapunov function and a dynamic surface sliding-mode control method are employed to design the control law of the pitch and yaw channels to obtain the desired control moments. Finally, in light of redundancy in such actuators as aerodynamic rudders and jet devices, a dynamic control allocation algorithm is designed to assign the desired control moments to the actuators. Moreover, the results of simulations show that the IGC algorithm based on the asymmetric barrier Lyapunov function for the interceptor missile allows the outputs to meet the constraints and improves the stability of the control system of the interceptor missile.

scholarly journals Adaptive Tracking Control for a Class of Manipulator Systems with State Constraints and Stochastic Disturbances

2018 ◽  
Vol 2018 ◽  
pp. 1-6
Author(s):  
Wei Sun ◽  
Wenxing Yuan ◽  
Jing Zhang ◽  
Qun Sun
Keyword(s):  
Tracking Control ◽  
Closed Loop ◽  
State Constraints ◽  
Adaptive Controller ◽  
Compact Set ◽  
Closed Loop System ◽  
Stochastic Disturbances ◽  
Adaptive Tracking Control ◽  
Barrier Lyapunov Function ◽  
Control Scheme

An adaptive controller is constructed for a class of stochastic manipulator nonlinear systems in this paper. The states are constrained in the compact set. A tan-type Barrier Lyapunov Function (BLF) is employed to deal with state constraints. The proposed control scheme guarantees the output error convergence to a small neighbourhood of zero. All the signals in the closed-loop system are bounded. The simulation results illustrate the validity of the proposed method.

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