Approximation‐based adaptive control of uncertain non‐linear pure‐feedback systems with full state constraints
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- Bong Su Kim
- School of Electrical and Electronics Engineering, Chung‐Ang University 84 Heukseok‐Ro, Dongjak‐Gu Seoul 156‐756 South Korea
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- Sung Jin Yoo
- School of Electrical and Electronics Engineering, Chung‐Ang University 84 Heukseok‐Ro, Dongjak‐Gu Seoul 156‐756 South Korea
書誌事項
- 公開日
- 2014-11
- 権利情報
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- http://onlinelibrary.wiley.com/termsAndConditions#vor
- DOI
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- 10.1049/iet-cta.2014.0254
- 公開者
- Institution of Engineering and Technology (IET)
この論文をさがす
説明
<jats:p>This study proposes an adaptive approximation‐based control approach for non‐linear pure‐feedback systems in the presence of full state constraints. Completely non‐affine non‐linear functions are considered and assumed to be unknown. The dynamic surface design based on integral barrier Lyapunov functionals is provided to achieve both the desired tracking performance and the constraints satisfaction, in consideration of the full‐state‐constrained non‐affine non‐linearities. In this design procedure, simple sufficient conditions for choosing control gains, which can be checked off‐line, are established to guarantee the feasibility of the controller. The function approximation technique is employed to estimate unknown non‐linearities induced from the controller design procedure where the adaptive laws using the projection operator are designed to ensure the boundedness of the function approximators in the feasibility conditions. It is shown that all the signals in the closed‐loop system are uniformly ultimately bounded and the tracking error converges to an adjustable neighbourhood of the origin while all state variables always remain in the constrained state space.</jats:p>
収録刊行物
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- IET Control Theory & Applications
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IET Control Theory & Applications 8 (17), 2070-2081, 2014-11
Institution of Engineering and Technology (IET)
