NDLI: Backstepping dynamic surface control for a class of non-linear systems with time-varying output constraints

Content Provider	IET Digital Library
Author	Qiu, Yanan Liang, Xiaogeng Dai, Zhiyong Cao, Jianxiong Chen, Yang
Abstract	The barrier Lyapunov function (BLF) and its variants such as the asymmetric barrier Lyapunov function (ABLF) combined with backstepping technique have recently been employed to handle constraints for a class of non-linear systems. However, the repeated differentiation in backstepping will result in the requirement of high-order differentiability and the complexity of controllers in the multiple-state high-order systems. This study introduces dynamic surface control (DSC) to deal with these problems. The authors propose a backstepping DSC scheme based on the ABLF to address time-varying output constraints for a class of non-linear systems. The proposed control scheme can avoid the proliferation and singularity of repeated differentiation. As a consequence, it can relax the requirements of high-order differentiability for stabilising functions and high power of output tracking error transformation involved in ABLF synthesis. The new controller can be proved to guarantee that all the closed-loop signals remain bounded, and to ensure output constraints never violated. Comparison studies with previous work validate that DSC incorporated with ABLF can achieve favourable performance bounded within constraints, and it can also ensure fast and stable tracking convergence in the presence of disturbance. Experimental results illustrate the effectiveness of the presented method.
Starting Page	2312
Ending Page	2319
Page Count	8
ISSN	17518644
Volume Number	9
e-ISSN	17518652
Issue Number	Issue 15, Oct (2015)
Alternate Webpage(s)	https://digital-library.theiet.org/content/journals/iet-cta/9/15
Alternate Webpage(s)	https://digital-library.theiet.org/content/journals/10.1049/iet-cta.2015.0019
Journal	IET Control Theory & Applications
Publisher Date	2015-07-23
Access Restriction	Open
Rights Holder	© The Institution of Engineering and Technology
Subject Keyword	ABLF Synthesis Asymmetric Barrier Lyapunov Function Backstepping DSC Scheme Backstepping Dynamic Surface Control Technique Barrier Lyapunov Function Closed Loop System Closed-loop Signal Control Nonlinearities Control System Analysis Control System Synthesis Differentiation High-order Differentiability Lyapunov Method Multiple-state High-order System Nonlinear Control System Nonlinear System Output Constraint Output Tracking Error Transformation Stability in Control Theory Stable Tracking Convergence Synthesis Method Time Varying Control System Time Varying System Time-varying Output Constraint
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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