Practical trajectory tracking of output constrained random nonlinear systems

Abstract

This article studies practical trajectory tracking of output constrained multi‐input and multi‐output random nonlinear systems. First, the definition of ultimately bounded in the mean square and its Lyapunov criterion are given. Then, by proposing barrier Lyapunov function into the backstepping control design, constraint can be tackled and kept in the given region. Stability analysis is performed to the closed‐loop error system and practical trajectory tracking is achieved, meanwhile the second‐order moment of tracking error can be made arbitrarily small. A simulation example of a mechanical arm demonstrates the effectiveness of this control scheme.