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|Title:||Control of nonlinear systems with time-varying output constraints|
|Citation:||Tee, K.P., Ge, S.S., Li, H., Ren, B. (2009). Control of nonlinear systems with time-varying output constraints. 2009 IEEE International Conference on Control and Automation, ICCA 2009 : 524-529. ScholarBank@NUS Repository. https://doi.org/10.1109/ICCA.2009.5410484|
|Abstract:||This paper presents output tracking control for strict feedback nonlinear systems with time-varying output constraint. A Barrier Lyapunov Function (BLF), which depends explicitly on time, is employed at the outset to prevent the output from violating the time-varying constraint. Specifically, we allow the barrier limit to vary with the desired trajectory in time. Through a change of coordinates for the tracking error, we then eliminate the time dependence, therefore simplifying the analysis. We show that asymptotic output tracking is achieved without violation of the time-varying constraint, and that all closed loop signals remain bounded. The performance of the proposed control is illustrated through a simulation example. ©2009 IEEE.|
|Source Title:||2009 IEEE International Conference on Control and Automation, ICCA 2009|
|Appears in Collections:||Staff Publications|
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