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Title: Tracking control of nonlinear systems with box-constrained states
Authors: Tee, K.P.
Ge, S.S. 
Keywords: Adaptive control
Lyapunov function
Nonlinear control
Issue Date: 2011
Source: Tee, K.P.,Ge, S.S. (2011). Tracking control of nonlinear systems with box-constrained states. IFAC Proceedings Volumes (IFAC-PapersOnline) 18 (PART 1) : 6715-6720. ScholarBank@NUS Repository.
Abstract: We present control design for strict-feedback systems with box constraints on all of the states. A Barrier Lyapunov Function (BLF) is used to ensure that the states do not transgress the box constraints. Based on BLF-based backstepping, we show that asymptotic output tracking is achieved without violation of any constraint, provided that the initial states and control parameters are feasible. We also establish sufficient conditions to ensure feasibility, without the need for precise knowledge of the initial states, and provide an algorithm to check them offline. In the presence of parametric uncertainties, BLF-based adaptive backstepping prevents the states from transgressing the constrained region during the transient stages of online parameter adaptation. The performance of the BLF-based control is illustrated with a numerical example. © 2011 IFAC.
Source Title: IFAC Proceedings Volumes (IFAC-PapersOnline)
ISBN: 9783902661937
ISSN: 14746670
DOI: 10.3182/20110828-6-IT-1002.03439
Appears in Collections:Staff Publications

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