Adaptive output regulation for a class of nonlinear systems with guaranteed transient performance

Abstract

This paper is dedicated to adaptive output regulation for a class of nonlinear systems with asymptotic output tracking and guarantee of prescribed transient performance.With the employment of internal model principle, we first transform this problem into a specific adaptive stabilization problem with output constraints. Then, by integrating the time-varying Barrier Lyapunov Function (BLF) technique together with the high gain feedback method, we develop an output-based control law to solve the constrained stabilization problem and consequently confine the output tracking error to a predefined arbitrary region. The output-based control law enables adaptive output regulation in the sense that, under unknown exosystem dynamics, all the closed-loop system signals are bounded whilst the controlled output constraints are not violated. Finally, efficacy of the proposed design is illustrated through a simulation example.

Robust Output Regulation Problem with Prescribed Performance for Nonlinear Strict Feedback Systems

“…(ii) The finite time prescribed performance control problem considered in this paper is more general than that in [22,23] by noting that some practical systems are required to follow the prospected paths with a desired convergence rate in a finite time.…”

Surface Electromyography (sEMG)-based Intention Recognition and Control Design for Human–Robot Interaction in Uncertain Environment

“…Many studies utilized a barrier Lyapunov function (BLF) to change the transient performance of the control system. (15)(16)(17)(18) Li et al developed a robust adaptive fault-tolerant control method based on the BLF to ensure transient performance and robustness against actuator failure. (15) Considering the internal force between dual arms, Yang et al used the BLF to specify the tracking performance in transient and steady states to achieve effective cooperation between dual arms.…”

“…(16) Sun et al combined the timevarying BLF technology and a high-gain feedback method to limit the output tracking error in a predefined arbitrary area. (17) One of the most critical problems in HRI is making robots understand the movement intention of humans. Common intention recognition techniques include the use of vision, natural language processing (NLP), and biological signals.…”

Sub-fixed-time control for a class of second order system

“…In these second order systems, the disturbance existed in system affects the control performance all the time. In order to reduce the influences of disturbance, many control methods have been proposed, such as the back-stepping control (Yang, 2019), observer-based control (Zhan et al, 2019), adaptive control (Sun et al, 2019) and network/fuzzy logic control (Wang et al, 2019), and so forth. However, all the above control methods are based on the asymptotical stability (AS), whose convergence rate is slower than the finite-time stability (FINTS).…”