Please use this identifier to cite or link to this item:
Title: Control of nonlinear systems with time-varying output constraints
Authors: Tee, K.P.
Ren, B. 
Ge, S.S. 
Keywords: Adaptive control
Barrier function
Lyapunov methods
Time-varying systems
Issue Date: Nov-2011
Citation: Tee, K.P., Ren, B., Ge, S.S. (2011-11). Control of nonlinear systems with time-varying output constraints. Automatica 47 (11) : 2511-2516. ScholarBank@NUS Repository.
Abstract: This paper presents control design for strict feedback nonlinear systems with time-varying output constraints. An asymmetric time-varying Barrier Lyapunov Function (BLF) is employed to ensure constraint satisfaction. By allowing the barriers to vary with the desired trajectory in time, the initial condition requirements are relaxed. Through a change of tracking error coordinates, we eliminate the explicit dependence of the BLF on time, thereby simplifying the analysis of constraint satisfaction. We show that asymptotic output tracking is achieved without violation of the output constraint, and also quantify the transient performance bound as a function of time that converges to zero. To handle parametric model uncertainty, we present an adaptive controller that ensures constraint satisfaction during the transient phase of online parameter adaptation. The performance of the proposed control is illustrated through a simulation example. © 2011 Elsevier Ltd. All rights reserved.
Source Title: Automatica
ISSN: 00051098
DOI: 10.1016/j.automatica.2011.08.044
Appears in Collections:Staff Publications

Show full item record
Files in This Item:
There are no files associated with this item.


checked on Jul 30, 2021


checked on Jul 30, 2021

Page view(s)

checked on Aug 3, 2021

Google ScholarTM



Items in DSpace are protected by copyright, with all rights reserved, unless otherwise indicated.