Adaptive control for parametric output feedback systems with output constraint

Beibei Ren, Shuzhi Sam Ge, Keng Peng Tee, Tong Heng Lee

Research output: Chapter in Book/Report/Conference proceedingConference contributionpeer-review

15 Scopus citations

Abstract

In this paper, adaptive control is presented for a class of parametric output feedback nonlinear systems with output constraint. Adaptive observer backstepping is adopted to achieve the output tracking. To prevent the output constraint violation, the Barrier Lyapunov Function (BLF) is employed in Lyapunov synthesis. By ensuring the boundedness of the BLF, we also guarantee that the output constraint is not transgressed. Compared with the control using a Quadratic Lyapunov Function (QLF), our control requires less restrictive initial conditions. The stability analysis of the closed-loop system is provided and all closed-loop signals are ensured to be bounded. Simulation results demonstrate the effectiveness of the proposed approach.

Original languageEnglish
Title of host publicationProceedings of the 48th IEEE Conference on Decision and Control held jointly with 2009 28th Chinese Control Conference, CDC/CCC 2009
Pages6650-6655
Number of pages6
DOIs
StatePublished - 2009
Event48th IEEE Conference on Decision and Control held jointly with 2009 28th Chinese Control Conference, CDC/CCC 2009 - Shanghai, China
Duration: Dec 15 2009Dec 18 2009

Publication series

NameProceedings of the IEEE Conference on Decision and Control
ISSN (Print)0191-2216

Conference

Conference48th IEEE Conference on Decision and Control held jointly with 2009 28th Chinese Control Conference, CDC/CCC 2009
CountryChina
CityShanghai
Period12/15/0912/18/09

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