Asymptotic Tracking Control of State-Constrained Nonlinear Systems With Time-Varying Powers
Ruiming Xie, Chao Guo, Xue‐Jun Xie
Abstract
This article investigates the asymptotic tracking control problem for full-state-constrained nonlinear systems with unknown time-varying powers. By introducing a nonlinear state-dependent transformation, a continuous bounded scalar function, and lower and higher powers into adding a power integrator control design, full-state constraints are skillfully handled without imposing frequently used feasibility conditions in traditional barrier Lyapunov function-based methods, and an asymptotic tracking control design is provided. It is proved that all the closed-loop signals are bounded, full-state constraints are not transgressed, and the asymptotic tracking is achieved.
Topics & Concepts
Bounded functionControl theory (sociology)Nonlinear systemIntegratorLyapunov functionMathematicsScalar (mathematics)State (computer science)Control-Lyapunov functionTracking (education)Transformation (genetics)Function (biology)Lyapunov redesignControl (management)Computer scienceMathematical analysisAlgorithmBiologyGeneBiochemistryPsychologyPedagogyComputer networkGeometryPhysicsBandwidth (computing)ChemistryArtificial intelligenceEvolutionary biologyQuantum mechanicsAdaptive Control of Nonlinear SystemsIterative Learning Control SystemsAdaptive Dynamic Programming Control