NDLI: Barrier Lyapunov functions-based dynamic surface control for pure-feedback systems with full state constraints

Content Provider	IET Digital Library
Author	Wang, Chunxiao Wu, Yuqiang Yu, Jiangbo
Abstract	This studies an adaptive control problem of pure-feedback non-linear systems with full state constraints. The mean value theorem is employed to deal with unknown non-linearities. A novel backstepping design is constructed via barrier Lyapunov function (BLF) combined with dynamic surface control (DSC). The BLF guarantees the full state constraints are not violated and all the closed-loop signals remain bounded. DSC solves the problems of restrictions on high order differentiability of stabilising functions and avoiding the complexity that arises due to the explosion of terms in backstepping design. It is shown that all the signals in the closed-loop system are ultimately bounded and the tracking error converges to an adjustable neighbourhood of the origin while the full state constraints remain unchanged. The performance of the BLF-based DSC is illustrated with two simulation examples.
Starting Page	524
Ending Page	530
Page Count	7
ISSN	17518644
Volume Number	11
e-ISSN	17518652
Issue Number	Issue 4, Feb (2017)
Alternate Webpage(s)	https://digital-library.theiet.org/content/journals/iet-cta/11/4
Alternate Webpage(s)	https://digital-library.theiet.org/content/journals/10.1049/iet-cta.2016.0333
Journal	IET Control Theory & Applications
Publisher Date	2016-11-21
Access Restriction	Open
Rights Holder	© The Institution of Engineering and Technology
Subject Keyword	Adaptive Control Backstepping Design Barrier Lyapunov Function-based Dynamic Surface Control BLF-based DSC Closed Loop System Closed-loop Signal Closed-loop System Control Nonlinearities Control System Analysis Control System Synthesis Feedback Full State Constraint Functional Analysis High Order Differentiability Lyapunov Method Mathematical Analysis Mean Value Theorem Nonlinear Control System Nonlinearities Pure-feedback Nonlinear System Self Adjusting Control System Stabilising Function Stability Stability in Control Theory Synthesis Method Tracking Error
Content Type	Text
Resource Type	Article
Subject	Control and Optimization Control and Systems Engineering Human-Computer Interaction Electrical and Electronic Engineering Computer Science Applications

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