Adaptive Exponential Convergence State-Constrained Control for Interconnected Nonlinear Systems With Time-Varying Unknown Parameters
Liuliu Zhang, Lingchen Zhu, Changchun Hua
Abstract
This article investigates decentralized adaptive control for a class of unknown parameter-varying interconnected time-delay nonlinear systems subject to asymmetric full-state constraints. By innovatively constructing an exponential scaling function on system states and an asymmetric integral barrier Lyapunov function (AIBLF), the states of the system can be directly constrained to predesigned bounds of exponential rate convergence. Based on the congelation of variables method, different unknown time-varying parameters of interconnected time-delay nonlinear systems with a mild requirement are well addressed, and the asymptotic stability of the whole system is proved with our proposed control strategy. Furthermore, the proposed decentralized adaptive controller guarantees that all system states can converge to zero with the exponential rate while maintaining within the asymmetric constraints. Finally, the validity of the presented control scheme is demonstrated by the simulation results.