Adaptive control of nonlinear pure-feedback systems with output constraints: Integral barrier Lyapunov functional approach
This paper studies an adaptive control problem of completely non-affine pure-feedback systems with an output constraint. The implicit function theorem and the mean value theorem are employed to deal with unknown output-constrained non-affine nonlinearities. Then, a dynamic surface design approach ba...
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| Published in | International journal of control, automation, and systems Vol. 13; no. 1; pp. 249 - 256 |
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| Main Authors | , |
| Format | Journal Article |
| Language | English |
| Published |
Heidelberg
Institute of Control, Robotics and Systems and The Korean Institute of Electrical Engineers
01.02.2015
Springer Nature B.V 제어·로봇·시스템학회 |
| Subjects | |
| Online Access | Get full text |
| ISSN | 1598-6446 2005-4092 |
| DOI | 10.1007/s12555-014-0018-3 |
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| Abstract | This paper studies an adaptive control problem of completely non-affine pure-feedback systems with an output constraint. The implicit function theorem and the mean value theorem are employed to deal with unknown output-constrained non-affine nonlinearities. Then, a dynamic surface design approach based on an appropriate Integral Barrier Lyapunov Functional is presented to design an adaptive controller ensuring both the constraint satisfaction and the desired tracking ability. For the controller design, the function approximation technique using neural networks is used for estimating unknown nonlinear terms with control direction nonlinearities. It is shown that all the signals in the closed-loop system are semi-globally uniformly ultimately bounded and the tracking error converges to an adjustable neighborhood of the origin while the output constraint is never violated. |
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| AbstractList | This paper studies an adaptive control problem of completely non-affine pure-feedback systems with an output constraint. The implicit function theorem and the mean value theorem are employed to deal with unknown output-constrained non-affine nonlinearities. Then, a dynamic surface design approach based on an appropriate Integral Barrier Lyapunov Functional is presented to design an adaptive controller ensuring both the constraint satisfaction and the desired tracking ability. For the controller design, the function approximation technique using neural networks is used for estimating unknown nonlinear terms with control direction nonlinearities. It is shown that all the signals in the closed-loop system are semi-globally uniformly ultimately bounded and the tracking error converges to an adjustable neighborhood of the origin while the output constraint is never violated. KCI Citation Count: 51 This paper studies an adaptive control problem of completely non-affine pure-feedback systems with an output constraint. The implicit function theorem and the mean value theorem are employed to deal with unknown output-constrained non-affine nonlinearities. Then, a dynamic surface design approach based on an appropriate Integral Barrier Lyapunov Functional is presented to design an adaptive controller ensuring both the constraint satisfaction and the desired tracking ability. For the controller design, the function approximation technique using neural networks is used for estimating unknown nonlinear terms with control direction nonlinearities. It is shown that all the signals in the closed-loop system are semi-globally uniformly ultimately bounded and the tracking error converges to an adjustable neighborhood of the origin while the output constraint is never violated. |
| Author | Kim, Bong Su Yoo, Sung Jin |
| Author_xml | – sequence: 1 givenname: Bong Su surname: Kim fullname: Kim, Bong Su organization: School of Electrical and Electronics Engineering, Chung-Ang University – sequence: 2 givenname: Sung Jin surname: Yoo fullname: Yoo, Sung Jin email: sjyoo@cau.ac.kr organization: School of Electrical and Electronics Engineering, Chung-Ang University |
| BackLink | https://www.kci.go.kr/kciportal/ci/sereArticleSearch/ciSereArtiView.kci?sereArticleSearchBean.artiId=ART001957787$$DAccess content in National Research Foundation of Korea (NRF) |
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| Keywords | dynamic surface design pure-feedback systems Adaptive control integral barrier Lyapunov functional |
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| SubjectTerms | Adaptive control Analysis Approximation Barriers Closed loop systems Control Control theory Controllers Design Design engineering Dynamical systems Engineering Feedback Feedback control systems Integrals Mechatronics Neural networks Nonlinear dynamics Nonlinearity Regular Paper Robotics Studies Theorems 제어계측공학 |
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| Title | Adaptive control of nonlinear pure-feedback systems with output constraints: Integral barrier Lyapunov functional approach |
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