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Adaptive Barrier-Lyapunov-Functions Based Control Scheme of Nonlinear Pure-Feedback Systems with Full State Constraints and Asymptotic Tracking Performance

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Abstract

In this paper, the authors propose an adaptive Barrier-Lyapunov-Functions (BLFs) based control scheme for nonlinear pure-feedback systems with full state constraints. Due to the coexist of the non-affine structure and full state constraints, it is very difficult to construct a desired controller for the considered system. According to the mean value theorem, the authors transform the pure-feedback system into a system with strict-feedback structure, so that the well-known backstepping method can be applied. Then, in the backstepping design process, the BLFs are employed to avoid the violation of the state constraints, and neural networks (NNs) are directly used to online approximate the unknown packaged nonlinear terms. The presented controller ensures that all the signals in the closed-loop system are bounded and the tracking error asymptotically converges to zero. Meanwhile, it is shown that the constraint requirement on the system will not be violated during the operation. Finally, two simulation examples are provided to show the effectiveness of the proposed control scheme.

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Authors and Affiliations

  1. Faculty of Electronic Information and Electrical Engineering, Dalian University of Technology, Dalian, 116024, China

    Ben Niu

  2. School of Information Science and Engineering, Shandong Normal University, Jinan, 250014, China

    Ben Niu, Xiaomei Wang & Xinjun Wang

  3. School of Mathematics, Southeast University, Nanjing, 211189, China

    Xiaoan Wang

  4. School of Automation, Nanjing University of Information Science and Technology, Nanjing, 210044, China

    Tao Li

Authors
  1. Ben Niu
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  2. Xiaoan Wang
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  3. Xiaomei Wang
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  4. Xinjun Wang
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  5. Tao Li
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Correspondence to Ben Niu.

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Additional information

This research was supported in part by the National Natural Science Foundation of China under Grant No. 62303278, and in part by the Taishan Scholar Project of Shandong Province of China under Grant No. tsqn201909078.

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Niu, B., Wang, X., Wang, X. et al. Adaptive Barrier-Lyapunov-Functions Based Control Scheme of Nonlinear Pure-Feedback Systems with Full State Constraints and Asymptotic Tracking Performance. J Syst Sci Complex 37, 965–984 (2024). https://doi.org/10.1007/s11424-024-1259-8

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  • DOI: https://doi.org/10.1007/s11424-024-1259-8

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