Control of nonlinear systems with time-varying output constraints

By Keng Peng Tee, Beibei Ren, Shuzhi Sam Ge. IEEE International Conference on Control and Automation, 2009

388 citations recorded by the source corpus.

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.

Subfields: Control and Systems Engineering

View Paper: https://www.semanticscholar.org/paper/e2817d2d2243e89408dcbe1896f74c600808813c

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In Control and Systems Engineering

1. Wei He
2. Changyin Sun
3. Zhao Yin
4. Kai Zhao
5. Yongduan Song
6. Shuzhi Sam Ge
7. Keng Peng Tee
8. Shaocheng Tong

Citations in the corpus

• Adaptive Neural Network Control of a Marine Vessel With Constraints Using the Asymmetric Barrier Lyapunov Function (2017, methodology): “Barrier Lyapunov functions are used for an SISO nonlinear system with output constraints [42], as well as a nonlinear system with the time-varying constraints [43].”
• Removing the Feasibility Conditions Imposed on Tracking Control Designs for State-Constrained Strict-Feedback Systems (2019, background): “[21], barrier Lyapunov function (BLF) and integral BLF (IBLF) based approaches have been widely used to deal with state constraints for various nonlinear systems [5], [6], [9]–[16], [30]–[33], [37], [38], [40], [41].”
• Control of nonlinear systems with partial state constraints using a barrier Lyapunov function (2011, methodology): “…used to control systems in Brunovsky form (Ngo, Mahony, and Jiang 2005), output-constrained systems in strict feedback form (Tee, Ge, and Tay 2009b; Tee, Ren, and Ge 2011; Yan and Wang 2010), output-constrained systems in output feedback form (Ren, Ge, Tee, and Lee 2010), as well as…”
• Prescribed Performance Control of Uncertain Euler–Lagrange Systems Subject to Full-State Constraints (2018, positive): “put and full-state (or partial-state) constraints [8], [26]–[28].”