Robust adaptive control for a class of semi‐strict feedback systems with state and input constraints

Zhang, Zhikai; Duan, Guang‐Ren; Hu, Yanmei

doi:10.1002/rnc.4069

Cited by 22 publications

(26 citation statements)

References 57 publications

(152 reference statements)

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“…In Reference 14, an asymmetric barrier Lyapunov function (ABLF) has been designed to deal with time‐varying asymmetric state constraints. However, in the conventional ABLF‐based controller designs, an additional effort is needed to check the continuity and differentiability of the virtual controllers 15 . In Reference 16, a novel ABLF has been proposed that facilitates the controller design for systems subject to time‐varying asymmetric state constraints.…”

Section: Introductionmentioning

confidence: 99%

Observer‐based controller for nonaffine time‐delayed systems subject to input nonlinearities, state constraints, and unknown control direction

Mohit

Shahrokhi

Kamalamiri

2022

Adaptive Control & Signal

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In this work, an adaptive observer-based control scheme has been designed for uncertain nonaffine nonstrict feedback systems subject to state time delay, various types of input nonlinearities, time-varying asymmetric state constraints, and unknown control direction. Compared to the existing controllers for systems with state constraints, the designed control scheme in this work can be applied to state-constrained systems with nonaffine structure subject to state delays, unknown control direction, and different types of input nonlinearities, while full-states measurement is not required. Moreover, by introducing a novel saturated Nussbaum function in the present work, not only has the problem of unknown control direction been handled, but also the probability of a control shock due to applying the conventional Nussbaum functions has been eliminated. The system unknown dynamics has been approximated by using neural networks (NNs), and by updating the maximum norm of NNs weight vectors, only one adaptive law is required for the controller implementation. By employing appropriate Lyapunov functions, it has been shown that all signals in the closed-loop system are bounded, state constraints are satisfied, and the output tracking error can be made small by selecting appropriate design parameters.The effectiveness of the designed control scheme has been shown through two simulation studies. Moreover, the superiority of the proposed saturated Nussbaum function in comparison with conventional Nussbaum functions has been shown via simulation. K E Y W O R D Sinput nonlinearity, intelligent approximator, nonstrict feedback systems, state constraints, unknown control direction INTRODUCTIONRecently, control of systems with constraints has attracted a great deal of attention because many real systems are subject to constraints such as wheeled mobile robotic systems 1 and chemical processes. 2 Constraints may appear as physical restrictions, performance requirements, or safety considerations. 3 Input, state, and output constraints are the three major types of constraints investigated in the literature. For example, an adaptive controller has been designed for a class of 2122

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Section: Introductionmentioning

confidence: 99%

Observer‐based controller for nonaffine time‐delayed systems subject to input nonlinearities, state constraints, and unknown control direction

Mohit

Shahrokhi

Kamalamiri

2022

Adaptive Control & Signal

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“…5 Several control design methods have been applied to address the problem of stabilizing systems with state constraints. [6][7][8][9] Some of these methods include the model predictive control (MPC) approach, which offers an alternative to deal with constraints in the state and the input of discretized linear systems, 7,8 neural networks, 10,11 and fuzzy controllers. 12,13 The study proposed by Li et al 12 extends the control design results in the case of time delay in the control function.…”

Section: Introductionmentioning

confidence: 99%

Robust control for state constrained systems based on composite barrier Lyapunov functions

Llorente-Vidrio

Mera

Salgado

et al. 2020

Intl J Robust & Nonlinear

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This study aims to design a robust state feedback controller for uncertain and perturbed linear systems with state constraints described by a polytope. This novel design incorporates the use of a composite barrier Lyapunov function (CBLF) and the convex hull of a set of ellipsoids inscribed in the given polytopic constraint set. The CBLF is used to ensure that this convex hull is an invariant set for the perturbed system states. Then, an optimization scheme is implemented to maximize the size of this invariant set to use it as a safe set. This is a set of initial conditions ensuring that the system solutions conform to the constraints for any subsequent time instant. Additionally, a minimal ultimate bound for the states is calculated to ensure asymptotic convergence to a region as close to the origin as possible. This region is characterized by a second convex hull of ellipsoids using the well-known attractive ellipsoid method and the CBLF. Numerical simulations illustrate and compare the obtained results against a similar approach, considering the classical quadratic Lyapunov function, instead of the CBLF.

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“…Therefore, how to cope with state constraints of nonlinear systems has received great attention. Fruitful results on state constrains have been reported during the past decades (ie, References , to just name a few). The typical methods in the literature dealing with constraints include model predictive control (MPC) and reference governors (RGs), which rely on the optimization algorithms.…”

Section: Introductionmentioning

confidence: 99%

Robust adaptive fault‐tolerant quantized control of nonlinear systems with constraints on system behaviors and states

Zhao

Lei

Lin

et al. 2020

Intl J Robust & Nonlinear

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In this work, we develop a robust adaptive fault-tolerant tracking control scheme for a class of input-quantized strict-feedback nonlinear systems in the presence of error/state constraints and actuation faults. The problem is rather complicated yet challenging if nonparametric uncertainties and unknown quantization parameters as well as time-varying yet completely undetectable actuation faults are involved in the considered systems. Compared with the most existing approaches in the literature, the proposed control exhibits several attractive advantages: (1) upon using a nonlinear decomposition for quantized input and employing the robust technique for actuation fault, not only the exact knowledge of quantization parameters are not required, but also the actuation fault can be easily compensated since neither fault detection and diagnosis/fault detection and identification nor controller reconfiguration is needed; (2) based on the error/state-dependent unified nonlinear function, the constraints on tracking error and system states are directly handled and the cases with or without constraints can also be addressed in a unified manner without changing the control structure; and (3) the utilization of unified nonlinear function-based dynamic surface control not only avoids the problem of the explosion of complexity in traditional backstepping design, but also bypasses the demanding feasibility conditions of virtual controllers. Furthermore, by using the Lyapunov analysis, it is ensured that all signals in the closed-loop systems are uniformly ultimately bounded. The effectiveness of the developed control algorithm is confirmed by numerical simulations. K E Y W O R D Serror/state constraints, fault-tolerant control, quantized input, robust adaptive control, strict-feedback nonlinear systems, unified nonlinear function INTRODUCTIONIn the past decade, networked control has drawn a great deal of attention as its advantages in low cost of installation and flexibility in system implementation. There are several communication constraints in the control of networked Int J Robust Nonlinear Control. 2020;30:3215-3233. wileyonlinelibrary.com/journal/rnc

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Robust adaptive control for a class of semi‐strict feedback systems with state and input constraints

Cited by 22 publications

References 57 publications

Observer‐based controller for nonaffine time‐delayed systems subject to input nonlinearities, state constraints, and unknown control direction

Observer‐based controller for nonaffine time‐delayed systems subject to input nonlinearities, state constraints, and unknown control direction

Robust control for state constrained systems based on composite barrier Lyapunov functions

Robust adaptive fault‐tolerant quantized control of nonlinear systems with constraints on system behaviors and states

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