Premium
Adaptive control of pure‐feedback nonlinear systems with full‐state time‐varying constraints and unmodeled dynamics
Author(s) -
Hua Yu,
Zhang Tianping
Publication year - 2020
Publication title -
international journal of adaptive control and signal processing
Language(s) - English
Resource type - Journals
SCImago Journal Rank - 0.73
H-Index - 66
eISSN - 1099-1115
pISSN - 0890-6327
DOI - 10.1002/acs.3077
Subject(s) - control theory (sociology) , nonlinear system , normalization (sociology) , lyapunov function , bounded function , controller (irrigation) , adaptive control , computer science , constraint (computer aided design) , mathematics , control (management) , artificial intelligence , mathematical analysis , physics , quantum mechanics , sociology , anthropology , agronomy , biology , geometry
Summary This paper focuses on the problem of adaptive control for a class of pure‐feedback nonlinear systems with full‐state time‐varying constraints and unmodeled dynamics. By introducing a one‐to‐one nonlinear mapping, the constrained pure‐feedback nonlinear system with state and input unmodeled dynamics is transformed into unconstrained pure‐feedback system. The controller design based on the transformed novel system is proposed by using a modified dynamic surface control method. Dynamic signal and normalization signal are designed to handle dynamical uncertain terms and input unmodeled dynamics, respectively. By adding nonnegative normalization signal into the whole Lyapunov function and using the introducing compact set in the stability analysis, all signals in the whole system are proved to be semiglobally uniformly ultimately bounded, and all states can obey the time‐varying constraint conditions. A numerical example is provided to demonstrate the effectiveness of the proposed approach.