Journal ArticleDOI
Adaptive Controller Design-Based ABLF for a Class of Nonlinear Time-Varying State Constraint Systems
TLDR
The time-varying asymmetric barrier Lyapunov functions (TABLFs) are employed in each step of the backsstepping design and a novel control TABLF scheme is established to ensure the asymptotic output tracking performance.Abstract:
In this paper, we address an adaptive control problem for a class of nonlinear strict-feedback systems with uncertain parameter. The full states of the systems are constrained in the bounded sets and the boundaries of sets are compelled in the asymmetric time-varying regions, i.e., the full state time-varying constraints are considered here. This is for the first time to control such a class of systems. To prevent that the constraints are overstepped, the time-varying asymmetric barrier Lyapunov functions (TABLFs) are employed in each step of the backsstepping design and we also establish a novel control TABLF scheme to ensure the asymptotic output tracking performance. The performances of the adaptive TABLF-based control are verified by a simulation example.read more
Citations
More filters
Journal ArticleDOI
Observer‐based controller for nonaffine time‐delayed systems subject to input nonlinearities, state constraints, and unknown control direction
TL;DR: In this article , an adaptive observer-based control scheme has been designed for uncertain nonaffine nonstrict feedback systems subject to state time delay, various types of input nonlinearities, time-varying asymmetric state constraints, and unknown control direction.
Journal ArticleDOI
Connectivity-preserving adaptive synchronized tracking of heterogeneous spherical robots with limited communication ranges
Yun Ho Choi,Sung Jin Yoo +1 more
TL;DR: A local connectivity-preserving adaptive synchronized tracker is designed using the proposed DHSS with the estimate of the leader velocity and the swing-up balance angular velocity and a technical lemma is derived to analyze the asymptotic stability and the initial connectivity preservation of the overall closed-loop system in the Lyapunov sense.
Journal ArticleDOI
Quantized Consensus Control for Multi-UAVs Based on Prescribed Performance
Journal ArticleDOI
Event-Triggered Finite-Time Adaptive Practical Tracking Control for Time-Varying State-Constrained Nonlinear Systems
TL;DR: In this paper , an event-triggered finite-time adaptive practical tracking control for uncertain nonstrict-feedback nonlinear systems in the presence of time-varying state constraints and external disturbances is presented.
Proceedings ArticleDOI
Adaptive Control Based on Radial Base Function Neural Network Approximation for Quadrotor
TL;DR: In this paper , the authors proposed an adaptive control for a quadrotor drone with uncertain dynamics and subject to unknown disturbances using Radial Base Function Neural Network (RBFNN).
References
More filters
Journal ArticleDOI
Barrier Lyapunov Functions for the control of output-constrained nonlinear systems
TL;DR: This paper presents control designs for single-input single-output (SISO) nonlinear systems in strict feedback form with an output constraint, and explores the use of an Asymmetric Barrier Lyapunov Function as a generalized approach that relaxes the requirements on the initial conditions.
Journal ArticleDOI
Systematic design of adaptive controllers for feedback linearizable systems
TL;DR: A systematic procedure for the design of adaptive regulation and tracking schemes for a class of feedback linearizable nonlinear systems is developed, which substantially enlarges the class of non linear systems with unknown parameters for which global stabilization can be achieved.
Proceedings ArticleDOI
Systematic Design of Adaptive Controllers for Feedback Linearizable Systems
TL;DR: In this paper, a systematic procedure is developed for the design of adaptive regulation and tracking schemes for a class of feedback linearizable nonlinear systems, which are transformable into the so-called pure-feedback form.
Journal ArticleDOI
Adaptive tracking control of uncertain MIMO nonlinear systems with input constraints
TL;DR: The auxiliary design system is introduced to analyze the effect of input constraints, and its states are used to adaptive tracking control design, and the closed-loop semi-global uniformly ultimate bounded stability is achieved via Lyapunov synthesis.
Journal ArticleDOI
Adaptive Neural Control for Output Feedback Nonlinear Systems Using a Barrier Lyapunov Function
TL;DR: A barrier Lyapunov function (BLF) is introduced to address two open and challenging problems in the neuro-control area: for any initial compact set, how to determine a priori the compact superset on which NN approximation is valid; and how to ensure that the arguments of the unknown functions remain within the specified compact supersets.
Related Papers (5)
Barrier Lyapunov Functions for the control of output-constrained nonlinear systems
Barrier Lyapunov functions for Nussbaum gain adaptive control of full state constrained nonlinear systems
Yan-Jun Liu,Shaocheng Tong +1 more
Barrier Lyapunov Functions-based adaptive control for a class of nonlinear pure-feedback systems with full state constraints
Yan-Jun Liu,Shaocheng Tong +1 more