Adaptive Full-State-Constrained Control of Nonlinear Systems With Deferred Constraints Based on Nonbarrier Lyapunov Function Method
In this article, the problem of tracking control is considered for a class of uncertain strict-feedback nonlinear systems with deferred asymmetric time-varying full-state constraints. A novel adaptive robust full-state-constrained control scheme is developed. First, by introducing a novel shifting f...
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| Veröffentlicht in: | IEEE transactions on cybernetics 2022-08, Vol.52 (8), p.7634-7642 |
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| creator | Chen, Jiannan Hua, Changchun |
| description | In this article, the problem of tracking control is considered for a class of uncertain strict-feedback nonlinear systems with deferred asymmetric time-varying full-state constraints. A novel adaptive robust full-state-constrained control scheme is developed. First, by introducing a novel shifting function, the original constrained system with any initial values is modified to a new constrained system, and the initial values of the modified constrained system remain 0. Then, to remove the feasibility condition caused by the barrier Lyapunov functions, the modified constrained system is further transformed into a new unconstrained system by a brand new nonlinear transformation. Furthermore, the tracking error system of the unconstrained system is constructed by using a new coordinate transformation, and a novel adaptive full-state-constrained control scheme is designed based on this error system through the backstepping recursion method and first-order filters. Finally, the resulting closed-loop system proves to be stable and numerical simulations are conducted to demonstrate the effectiveness of the developed control strategy. |
| doi_str_mv | 10.1109/TCYB.2020.3036646 |
| format | Article |
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A novel adaptive robust full-state-constrained control scheme is developed. First, by introducing a novel shifting function, the original constrained system with any initial values is modified to a new constrained system, and the initial values of the modified constrained system remain 0. Then, to remove the feasibility condition caused by the barrier Lyapunov functions, the modified constrained system is further transformed into a new unconstrained system by a brand new nonlinear transformation. Furthermore, the tracking error system of the unconstrained system is constructed by using a new coordinate transformation, and a novel adaptive full-state-constrained control scheme is designed based on this error system through the backstepping recursion method and first-order filters. Finally, the resulting closed-loop system proves to be stable and numerical simulations are conducted to demonstrate the effectiveness of the developed control strategy.</description><identifier>ISSN: 2168-2267</identifier><identifier>EISSN: 2168-2275</identifier><identifier>DOI: 10.1109/TCYB.2020.3036646</identifier><identifier>PMID: 33326394</identifier><identifier>CODEN: ITCEB8</identifier><language>eng</language><publisher>United States: IEEE</publisher><subject>Adaptive control ; Adaptive tracking control ; Constraints ; Coordinate transformations ; deferred time-varying constraints ; Feedback control ; full-state constraints ; Liapunov functions ; Lyapunov methods ; Mathematical analysis ; nonbarrier Lyapunov function (BLF) method ; Nonlinear control ; Nonlinear systems ; Robust control ; Safety ; Stability analysis ; Time-varying systems ; Tracking control ; Tracking errors ; Trajectory ; Transformations (mathematics) ; Uncertainty</subject><ispartof>IEEE transactions on cybernetics, 2022-08, Vol.52 (8), p.7634-7642</ispartof><rights>Copyright The Institute of Electrical and Electronics Engineers, Inc. (IEEE) 2022</rights><lds50>peer_reviewed</lds50><woscitedreferencessubscribed>false</woscitedreferencessubscribed><citedby>FETCH-LOGICAL-c349t-3e6422108ad1bf96f57e337821a27f4537e3226717eb55396dc857d9b977d5bc3</citedby><cites>FETCH-LOGICAL-c349t-3e6422108ad1bf96f57e337821a27f4537e3226717eb55396dc857d9b977d5bc3</cites><orcidid>0000-0001-6311-2112 ; 0000-0003-2106-4743</orcidid></display><links><openurl>$$Topenurl_article</openurl><openurlfulltext>$$Topenurlfull_article</openurlfulltext><thumbnail>$$Tsyndetics_thumb_exl</thumbnail><linktohtml>$$Uhttps://ieeexplore.ieee.org/document/9296568$$EHTML$$P50$$Gieee$$H</linktohtml><link.rule.ids>314,780,784,796,27924,27925,54758</link.rule.ids><linktorsrc>$$Uhttps://ieeexplore.ieee.org/document/9296568$$EView_record_in_IEEE$$FView_record_in_$$GIEEE</linktorsrc><backlink>$$Uhttps://www.ncbi.nlm.nih.gov/pubmed/33326394$$D View this record in MEDLINE/PubMed$$Hfree_for_read</backlink></links><search><creatorcontrib>Chen, Jiannan</creatorcontrib><creatorcontrib>Hua, Changchun</creatorcontrib><title>Adaptive Full-State-Constrained Control of Nonlinear Systems With Deferred Constraints Based on Nonbarrier Lyapunov Function Method</title><title>IEEE transactions on cybernetics</title><addtitle>TCYB</addtitle><addtitle>IEEE Trans Cybern</addtitle><description>In this article, the problem of tracking control is considered for a class of uncertain strict-feedback nonlinear systems with deferred asymmetric time-varying full-state constraints. A novel adaptive robust full-state-constrained control scheme is developed. First, by introducing a novel shifting function, the original constrained system with any initial values is modified to a new constrained system, and the initial values of the modified constrained system remain 0. Then, to remove the feasibility condition caused by the barrier Lyapunov functions, the modified constrained system is further transformed into a new unconstrained system by a brand new nonlinear transformation. Furthermore, the tracking error system of the unconstrained system is constructed by using a new coordinate transformation, and a novel adaptive full-state-constrained control scheme is designed based on this error system through the backstepping recursion method and first-order filters. Finally, the resulting closed-loop system proves to be stable and numerical simulations are conducted to demonstrate the effectiveness of the developed control strategy.</description><subject>Adaptive control</subject><subject>Adaptive tracking control</subject><subject>Constraints</subject><subject>Coordinate transformations</subject><subject>deferred time-varying constraints</subject><subject>Feedback control</subject><subject>full-state constraints</subject><subject>Liapunov functions</subject><subject>Lyapunov methods</subject><subject>Mathematical analysis</subject><subject>nonbarrier Lyapunov function (BLF) method</subject><subject>Nonlinear control</subject><subject>Nonlinear systems</subject><subject>Robust control</subject><subject>Safety</subject><subject>Stability analysis</subject><subject>Time-varying systems</subject><subject>Tracking control</subject><subject>Tracking errors</subject><subject>Trajectory</subject><subject>Transformations (mathematics)</subject><subject>Uncertainty</subject><issn>2168-2267</issn><issn>2168-2275</issn><fulltext>true</fulltext><rsrctype>article</rsrctype><creationdate>2022</creationdate><recordtype>article</recordtype><sourceid>RIE</sourceid><recordid>eNpdkc1r2zAYxsVYWUvWP2AMimCXXZzpw9bHMUmXdpC2h3aMnYRsv6YujpVKciDn_uOVcZbDdNGr5_09ryQehL5QMqeU6B9Pq7_LOSOMzDnhQuTiA7pgVKiMMVl8PNVCnqPLEF5IWipJWn1C55xzJrjOL9Dbora72O4Br4euyx6jjZCtXB-it20PNU519K7DrsH3ru-SZj1-PIQI24D_tPEZX0MD3k_oZIsBL21IiutHU2m9b8HjzcHuht7t01V9FdvUvIP47OrP6KyxXYDL4z5Dv9c_n1a32ebh5tdqsckqnuuYcRA5Y5QoW9Oy0aIpJHAuFaOWySYveDqO_6USyqLgWtSVKmStSy1lXZQVn6Hv09ydd68DhGi2baig62wPbgiG5ZIoLTXRCf32H_riBt-n1xkmNFUyF5Qkik5U5V0IHhqz8-3W-oOhxIwhmTEkM4ZkjiElz9Vx8lBuoT45_kWSgK8T0ALAqa2ZFoVQ_B1CPZXA</recordid><startdate>20220801</startdate><enddate>20220801</enddate><creator>Chen, Jiannan</creator><creator>Hua, Changchun</creator><general>IEEE</general><general>The Institute of Electrical and Electronics Engineers, Inc. (IEEE)</general><scope>97E</scope><scope>RIA</scope><scope>RIE</scope><scope>NPM</scope><scope>AAYXX</scope><scope>CITATION</scope><scope>7SC</scope><scope>7SP</scope><scope>7TB</scope><scope>8FD</scope><scope>F28</scope><scope>FR3</scope><scope>H8D</scope><scope>JQ2</scope><scope>L7M</scope><scope>L~C</scope><scope>L~D</scope><scope>7X8</scope><orcidid>https://orcid.org/0000-0001-6311-2112</orcidid><orcidid>https://orcid.org/0000-0003-2106-4743</orcidid></search><sort><creationdate>20220801</creationdate><title>Adaptive Full-State-Constrained Control of Nonlinear Systems With Deferred Constraints Based on Nonbarrier Lyapunov Function Method</title><author>Chen, Jiannan ; Hua, Changchun</author></sort><facets><frbrtype>5</frbrtype><frbrgroupid>cdi_FETCH-LOGICAL-c349t-3e6422108ad1bf96f57e337821a27f4537e3226717eb55396dc857d9b977d5bc3</frbrgroupid><rsrctype>articles</rsrctype><prefilter>articles</prefilter><language>eng</language><creationdate>2022</creationdate><topic>Adaptive control</topic><topic>Adaptive tracking control</topic><topic>Constraints</topic><topic>Coordinate transformations</topic><topic>deferred time-varying constraints</topic><topic>Feedback control</topic><topic>full-state constraints</topic><topic>Liapunov functions</topic><topic>Lyapunov methods</topic><topic>Mathematical analysis</topic><topic>nonbarrier Lyapunov function (BLF) method</topic><topic>Nonlinear control</topic><topic>Nonlinear systems</topic><topic>Robust control</topic><topic>Safety</topic><topic>Stability analysis</topic><topic>Time-varying systems</topic><topic>Tracking control</topic><topic>Tracking errors</topic><topic>Trajectory</topic><topic>Transformations (mathematics)</topic><topic>Uncertainty</topic><toplevel>peer_reviewed</toplevel><toplevel>online_resources</toplevel><creatorcontrib>Chen, Jiannan</creatorcontrib><creatorcontrib>Hua, Changchun</creatorcontrib><collection>IEEE All-Society Periodicals Package (ASPP) 2005-present</collection><collection>IEEE All-Society Periodicals Package (ASPP) 1998-Present</collection><collection>IEEE Electronic Library (IEL)</collection><collection>PubMed</collection><collection>CrossRef</collection><collection>Computer and Information Systems Abstracts</collection><collection>Electronics & Communications Abstracts</collection><collection>Mechanical & Transportation Engineering Abstracts</collection><collection>Technology Research Database</collection><collection>ANTE: Abstracts in New Technology & Engineering</collection><collection>Engineering Research Database</collection><collection>Aerospace Database</collection><collection>ProQuest Computer Science Collection</collection><collection>Advanced Technologies Database with Aerospace</collection><collection>Computer and Information Systems Abstracts Academic</collection><collection>Computer and Information Systems Abstracts Professional</collection><collection>MEDLINE - Academic</collection><jtitle>IEEE transactions on cybernetics</jtitle></facets><delivery><delcategory>Remote Search Resource</delcategory><fulltext>fulltext_linktorsrc</fulltext></delivery><addata><au>Chen, Jiannan</au><au>Hua, Changchun</au><format>journal</format><genre>article</genre><ristype>JOUR</ristype><atitle>Adaptive Full-State-Constrained Control of Nonlinear Systems With Deferred Constraints Based on Nonbarrier Lyapunov Function Method</atitle><jtitle>IEEE transactions on cybernetics</jtitle><stitle>TCYB</stitle><addtitle>IEEE Trans Cybern</addtitle><date>2022-08-01</date><risdate>2022</risdate><volume>52</volume><issue>8</issue><spage>7634</spage><epage>7642</epage><pages>7634-7642</pages><issn>2168-2267</issn><eissn>2168-2275</eissn><coden>ITCEB8</coden><abstract>In this article, the problem of tracking control is considered for a class of uncertain strict-feedback nonlinear systems with deferred asymmetric time-varying full-state constraints. A novel adaptive robust full-state-constrained control scheme is developed. First, by introducing a novel shifting function, the original constrained system with any initial values is modified to a new constrained system, and the initial values of the modified constrained system remain 0. Then, to remove the feasibility condition caused by the barrier Lyapunov functions, the modified constrained system is further transformed into a new unconstrained system by a brand new nonlinear transformation. Furthermore, the tracking error system of the unconstrained system is constructed by using a new coordinate transformation, and a novel adaptive full-state-constrained control scheme is designed based on this error system through the backstepping recursion method and first-order filters. Finally, the resulting closed-loop system proves to be stable and numerical simulations are conducted to demonstrate the effectiveness of the developed control strategy.</abstract><cop>United States</cop><pub>IEEE</pub><pmid>33326394</pmid><doi>10.1109/TCYB.2020.3036646</doi><tpages>9</tpages><orcidid>https://orcid.org/0000-0001-6311-2112</orcidid><orcidid>https://orcid.org/0000-0003-2106-4743</orcidid></addata></record> |
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| subjects | Adaptive control Adaptive tracking control Constraints Coordinate transformations deferred time-varying constraints Feedback control full-state constraints Liapunov functions Lyapunov methods Mathematical analysis nonbarrier Lyapunov function (BLF) method Nonlinear control Nonlinear systems Robust control Safety Stability analysis Time-varying systems Tracking control Tracking errors Trajectory Transformations (mathematics) Uncertainty |
| title | Adaptive Full-State-Constrained Control of Nonlinear Systems With Deferred Constraints Based on Nonbarrier Lyapunov Function Method |
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