Tracking-Based Control for Constrained Nonlinear Systems Under Parametric Uncertainties
Huifang Min, Na Duan, Xin Yu, Shumin Fei
Abstract
The adaptive tracking control is extended to the nonlinear system with multiple uncertainties consisting of input saturation, unknown parameter and full-state constraints. To deal with the input saturation, a distinctive method of introducing an auxiliary system is used instead of directly approximating it by a smooth function. Then, the adaptive backstepping technique is combined with the barrier Lyapunov function (BLF) to solve the parametric nonlinearities and give a systematic design procedure. Based on this design procedure, an adaptive state-feedback controller is obtained with rigourous stability analysis. It is verified that all the signals are uniformly ultimately bounded, the tracking error is bounded in a compact set of the origin, and the full-states are not violated. Finally, the proposed controller is used to a mass-spring mechanical system, and demonstrates the proposed scheme is effective.