Work

State Constraint Control for Uncertain Nonlinear Systems With Disturbance Compensation

Year: 2019

Type: article

Abstract: In this paper, a state constraint controller with disturbance compensation is proposed for uncertain nonlinear systems to improve the control performance without violating the full state constraints. A series of extended state observers are designed to estimate disturbances that include the unmodeled dynamics and the modeling errors. To guarantee non-violation of state constraints while compensating the disturbances, based on the backstepping technique, the state constraint controller with extended state observer is proposed by using the barrier Lyapunov function. Then, the stability of the closed-loop system is proved theoretically. Moreover, exponentially asymptotic tracking is achieved when the disturbances are not time-variant. Finally, the effectiveness of the proposed approach is verified by two examples.

Source: IEEE Access

DOI: 10.1109/access.2019.2947629

Authors: Zhangbao Xu, Lan Li, Jianyong Yao, Xiaolei Hu, Qingyun Liu, Nenggang Xie

Institutions: Anhui University of Technology, China Academy of Launch Vehicle Technology, Nanjing University of Science and Technology

Language: English

Topic: Adaptive Control of Nonlinear Systems

Subfield: Control and Systems Engineering

Field: Engineering

Domain: Physical Sciences

Open Access status: gold

Estimated APC paid: $1,750

Funder: National Natural Science Foundation of China