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Global robust stabilization for cascaded systems with dynamic uncertainties and asymmetric time-varying constraints

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Abstract

This article investigates an adaptive output feedback control problem for a non-holonomic system with integral input-to-state stable inverse dynamics and output constraints. A tan-type barrier Lyapunov function is utilized to handle asymmetric time-varying output constraints, and the full-order observer is constructed to estimate the unmeasurable state. The dynamic uncertainty is eliminated by changing the supply rate of the integral input-to-state stability. It is demonstrated that the closed-loop system is asymptotically stable, and the output does not violate the asymmetric time-varying constraints under this control scheme. A simulation example validates the effectiveness of the proposed controller.

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The authors declare that all data analyzed during this paper are included in this article.

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Acknowledgements

This work was supported in part by the National Natural Science Foundation of China (62073187 and 62003148), and the Major Scientific and Technological Innovation Project in Shandong Province (2019JZZY011111).

Funding

This work was supported in part by the National Natural Science Foundation of China (62073187 and 62003148).

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Authors and Affiliations

  1. School of Engineering, Qufu Normal University, Rizhao, 276826, China

    Fangling Zou & Yuqiang Wu

  2. School of Internet of Things Engineering, Jiangnan University, Wuxi, 214122, China

    Kang Wu

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  1. Fangling Zou
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  2. Kang Wu
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Correspondence to Yuqiang Wu.

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Zou, F., Wu, K. & Wu, Y. Global robust stabilization for cascaded systems with dynamic uncertainties and asymmetric time-varying constraints. Nonlinear Dyn 111, 18969–18983 (2023). https://doi.org/10.1007/s11071-023-08867-z

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